diff --git a/annotations/episode_00000004.json b/annotations/episode_00000004.json new file mode 100644 index 0000000000000000000000000000000000000000..c33b00d405c093be6bd5a887a4ef9c53fc608893 --- /dev/null +++ b/annotations/episode_00000004.json @@ -0,0 +1,1654 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19457, + "valid_duration": [ + 42, + 19499 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 42, + 299 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 299, + 1866 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1866, + 2358 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2358, + 3075 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3075, + 3348 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3348, + 3831 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3831, + 3897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3897, + 4355 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4355, + 4653 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4653, + 4831 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4831, + 5238 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5238, + 5400 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5400, + 6284 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6284, + 6666 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6666, + 6840 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6840, + 7140 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7140, + 7209 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7209, + 8257 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8257, + 8496 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8496, + 8928 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8928, + 9193 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9193, + 9262 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9262, + 9376 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9376, + 9814 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9814, + 9997 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9997, + 10294 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10294, + 10837 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10837, + 10957 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10957, + 11212 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11212, + 11480 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11480, + 12278 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12278, + 12829 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12829, + 13054 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13054, + 13291 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13291, + 13963 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13963, + 16198 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16198, + 16702 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16702, + 17197 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17197, + 17663 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17663, + 18113 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18113, + 18395 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 18395, + 18838 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18838, + 19116 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19116, + 19499 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 42, + 2358 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2358, + 3075 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3075, + 3831 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3831, + 5238 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5238, + 7140 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7140, + 8257 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8257, + 9193 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9193, + 9814 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9814, + 10837 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10837, + 11212 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11212, + 13291 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13291, + 17663 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17663, + 18113 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 18113, + 19499 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000009.json b/annotations/episode_00000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b12230fd9aa2a317809f28459516c22c75f7fb35 --- /dev/null +++ b/annotations/episode_00000009.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21842, + "valid_duration": [ + 51, + 21893 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 51, + 284 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 284, + 1230 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1230, + 1959 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1959, + 3046 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3046, + 3255 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3255, + 3928 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3928, + 4036 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4036, + 4765 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4765, + 5332 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5332, + 5588 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5588, + 5944 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5944, + 6181 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6181, + 7143 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7143, + 7695 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7695, + 7796 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7796, + 8226 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8226, + 8265 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8265, + 9734 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9734, + 9925 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9925, + 10204 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10204, + 10538 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10538, + 10607 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10607, + 10890 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10890, + 11122 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11122, + 11476 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11476, + 11706 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11706, + 12004 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12004, + 12268 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12268, + 14410 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14410, + 15232 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15238, + 15483 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 15483, + 15675 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15675, + 16024 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16024, + 19095 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19095, + 19593 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19593, + 19948 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19948, + 20250 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20250, + 20880 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20880, + 21114 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 21114, + 21416 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 21416, + 21893 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 51, + 1959 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1959, + 3046 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3046, + 3928 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3928, + 5944 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5944, + 8226 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8226, + 9734 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9734, + 10538 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10538, + 11122 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11122, + 11706 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11706, + 12004 + ], + "skill_idxes": [ + 26 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12004, + 15675 + ], + "skill_idxes": [ + 27, + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15675, + 20250 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20250, + 20880 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 20880, + 21893 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000025.json b/annotations/episode_00000025.json new file mode 100644 index 0000000000000000000000000000000000000000..415278fceb04b3969dde3adf66c7dab2f6403777 --- /dev/null +++ b/annotations/episode_00000025.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20177, + "valid_duration": [ + 13, + 20190 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13, + 412 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 412, + 1137 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1137, + 1669 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1669, + 2567 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2567, + 2998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2998, + 3697 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3697, + 3834 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3834, + 4327 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4327, + 4570 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4570, + 4912 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4912, + 5276 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5276, + 5416 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5416, + 6087 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6087, + 6445 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6445, + 6640 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6640, + 7222 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7222, + 7390 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7390, + 8755 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8755, + 9256 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9256, + 9445 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9445, + 9826 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9826, + 9948 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9948, + 10633 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10633, + 10855 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10855, + 11187 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11187, + 11627 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11627, + 11950 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11950, + 12307 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12307, + 12456 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12456, + 12780 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12780, + 13112 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13112, + 13350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13350, + 13906 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13906, + 15527 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15527, + 16930 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16930, + 17377 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17377, + 17698 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17698, + 18041 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18041, + 18152 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "1x1" + ] + ], + "frame_duration": [ + 18152, + 19443 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19443, + 19812 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19812, + 20190 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 13, + 1669 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1669, + 2567 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2567, + 3697 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3697, + 5276 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5276, + 7222 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7222, + 9826 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9826, + 10633 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10633, + 11627 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11627, + 12307 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12307, + 13112 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13112, + 13350 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13350, + 17698 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17698, + 18041 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "1x1" + ] + ], + [] + ], + "frame_duration": [ + 18041, + 20190 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000026.json b/annotations/episode_00000026.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c1f8bea13b791095a1e96e3c2a0711b13a8cc2 --- /dev/null +++ b/annotations/episode_00000026.json @@ -0,0 +1,1617 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25676, + "valid_duration": [ + 64, + 25740 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 64, + 370 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 370, + 1648 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1648, + 2357 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2357, + 3796 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3796, + 3880 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3880, + 4711 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4711, + 5053 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5053, + 5448 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5448, + 5967 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5967, + 6196 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6196, + 6832 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6832, + 6854 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6854, + 10047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10047, + 10603 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10603, + 10786 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10786, + 11129 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11129, + 11506 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11506, + 12826 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12826, + 13047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13047, + 13234 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 13234, + 13813 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13813, + 14197 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14197, + 14848 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14848, + 15202 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15202, + 15553 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15553, + 16061 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16061, + 16384 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16384, + 16774 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16774, + 16837 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16837, + 17329 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17329, + 17836 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17836, + 17998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17998, + 18307 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18307, + 18841 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 18841, + 21643 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21643, + 22531 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22531, + 23038 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23038, + 23635 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23635, + 24052 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24052, + 24418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X1" + ] + ], + "frame_duration": [ + 24418, + 24976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24976, + 25740 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 64, + 2357 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2357, + 3796 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3796, + 4711 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4711, + 6832 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6832, + 11129 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 11129, + 13813 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13813, + 14848 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14848, + 16061 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16061, + 16774 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16774, + 17836 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17836, + 18307 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18307, + 23635 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23635, + 24052 + ], + "skill_idxes": [ + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X1" + ] + ], + [] + ], + "frame_duration": [ + 24052, + 25740 + ], + "skill_idxes": [ + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000040.json b/annotations/episode_00000040.json new file mode 100644 index 0000000000000000000000000000000000000000..868ed15baea9364cb33e0bba6496f2255c364582 --- /dev/null +++ b/annotations/episode_00000040.json @@ -0,0 +1,1644 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17670, + "valid_duration": [ + 60, + 17730 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 60, + 421 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 421, + 972 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 972, + 1463 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1463, + 1780 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 1780, + 2404 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 2404, + 3154 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 3154, + 3738 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3738, + 4111 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4111, + 4945 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4945, + 5467 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5467, + 5599 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5599, + 6310 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6310, + 6634 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6634, + 7609 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7609, + 7960 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7960, + 8103 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8103, + 8445 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8445, + 8567 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8567, + 8875 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8875, + 9160 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9160, + 9355 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9355, + 9660 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9660, + 9808 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9808, + 10690 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10690, + 11010 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11010, + 11674 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11674, + 11994 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11994, + 12064 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12064, + 12757 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12757, + 13093 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13093, + 13153 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13153, + 13648 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13648, + 14068 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14068, + 14350 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14350, + 14523 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14523, + 14739 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14739, + 15268 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15268, + 15487 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15487, + 16105 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16105, + 16465 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16465, + 16628 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 16628, + 17137 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17137, + 17350 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 17350, + 17730 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 60, + 2404 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2404, + 3738 + ], + "skill_idxes": [ + 5, + 6 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3738, + 6310 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10, + 11 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6310, + 8445 + ], + "skill_idxes": [ + 12, + 13, + 14, + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8445, + 9660 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9660, + 10690 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10690, + 11994 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11994, + 13093 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13093, + 14068 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14068, + 14523 + ], + "skill_idxes": [ + 33, + 34 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14523, + 16105 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16105, + 16465 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 16465, + 17730 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000041.json b/annotations/episode_00000041.json new file mode 100644 index 0000000000000000000000000000000000000000..6a91534edc1aad6d16e699efa7038a93a507828d --- /dev/null +++ b/annotations/episode_00000041.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26556, + "valid_duration": [ + 3, + 26559 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3, + 348 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 348, + 1357 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1357, + 2287 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2287, + 3746 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3746, + 3974 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3974, + 4554 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4554, + 5092 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5092, + 5567 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5567, + 6211 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6211, + 6545 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6545, + 7702 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7702, + 8047 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8047, + 8814 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8814, + 9316 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9316, + 9573 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9573, + 10275 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10275, + 10478 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10478, + 12421 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12421, + 12719 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12719, + 13476 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13476, + 13767 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13767, + 14181 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14181, + 14679 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14679, + 15144 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15144, + 15288 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15288, + 16233 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16233, + 16661 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16661, + 17137 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17137, + 17656 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 17656, + 18862 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 18862, + 19778 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19778, + 19986 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 19986, + 20607 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20607, + 21012 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 21012, + 22127 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22127, + 23119 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23119, + 23598 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23598, + 24457 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24457, + 25624 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25624, + 25803 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X1" + ] + ], + "frame_duration": [ + 25803, + 26142 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 26142, + 26559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 3, + 2287 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2287, + 3746 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3746, + 4554 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4554, + 7702 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7702, + 10275 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10275, + 12421 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12421, + 13767 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13767, + 15144 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15144, + 16661 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16661, + 17137 + ], + "skill_idxes": [ + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 17137, + 20607 + ], + "skill_idxes": [ + 28, + 29, + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20607, + 24457 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24457, + 25624 + ], + "skill_idxes": [ + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X1" + ] + ], + [] + ], + "frame_duration": [ + 25624, + 26559 + ], + "skill_idxes": [ + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000042.json b/annotations/episode_00000042.json new file mode 100644 index 0000000000000000000000000000000000000000..b0e5ec51598c834000301632231f37bbcfe8bfbf --- /dev/null +++ b/annotations/episode_00000042.json @@ -0,0 +1,1654 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26061, + "valid_duration": [ + 33, + 26094 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 33, + 120 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 120, + 1108 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1108, + 1606 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1606, + 2851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2851, + 2896 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2896, + 3148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3148, + 3472 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3472, + 3845 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 3845, + 4309 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4309, + 4558 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4558, + 5060 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5060, + 5411 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5411, + 6013 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6013, + 6422 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 6422, + 6862 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 6862, + 7490 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7490, + 7559 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7559, + 8171 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 8171, + 8762 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8762, + 8825 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8825, + 9660 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9660, + 10436 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10436, + 10602 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10602, + 10837 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10837, + 10987 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10987, + 12554 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12554, + 13216 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13216, + 13444 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13444, + 14246 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14246, + 14498 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14498, + 16111 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 16111, + 16767 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16767, + 17010 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 17010, + 17533 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17533, + 18209 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 18209, + 21166 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21166, + 21679 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21679, + 22803 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22803, + 23217 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23217, + 23949 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23949, + 24626 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24626, + 24792 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 24792, + 25502 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 25502, + 26094 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 33, + 1606 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1606, + 2851 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2851, + 3148 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3148, + 5060 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5060, + 6013 + ], + "skill_idxes": [ + 11, + 12 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 6013, + 7490 + ], + "skill_idxes": [ + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7490, + 8762 + ], + "skill_idxes": [ + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8762, + 10436 + ], + "skill_idxes": [ + 19, + 20, + 21 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10436, + 10837 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10837, + 14246 + ], + "skill_idxes": [ + 24, + 25, + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14246, + 17533 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17533, + 23949 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23949, + 24626 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 24626, + 26094 + ], + "skill_idxes": [ + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000045.json b/annotations/episode_00000045.json new file mode 100644 index 0000000000000000000000000000000000000000..877bd72f39325e1ec8dffda1aa358704ca5348a4 --- /dev/null +++ b/annotations/episode_00000045.json @@ -0,0 +1,1602 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21738, + "valid_duration": [ + 21, + 21759 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21, + 399 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 399, + 1204 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1204, + 1848 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1848, + 2055 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2055, + 3039 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 3039, + 3516 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 3516, + 3834 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3834, + 4032 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 4032, + 4473 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4473, + 4570 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [ + [ + "", + "reorient" + ] + ], + "frame_duration": [ + 4570, + 5284 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5284, + 5478 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5478, + 6141 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6141, + 6411 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6411, + 7026 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7026, + 7161 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7161, + 7686 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7686, + 8136 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8136, + 8571 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8571, + 9732 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9732, + 10381 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10381, + 10494 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10494, + 10905 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10905, + 11160 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11160, + 14376 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14376, + 15306 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15306, + 15417 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 15417, + 15795 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15795, + 16155 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16155, + 16704 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 16704, + 17226 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17226, + 17367 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 17367, + 17680 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17680, + 17886 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17886, + 18505 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18505, + 18699 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18699, + 19107 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19107, + 19656 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19656, + 19857 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 19857, + 20697 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20697, + 20859 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20859, + 21759 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 21, + 3039 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 3039, + 3834 + ], + "skill_idxes": [ + 5, + 6 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 3834, + 4473 + ], + "skill_idxes": [ + 7, + 8 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 4473, + 6141 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6141, + 7026 + ], + "skill_idxes": [ + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7026, + 8136 + ], + "skill_idxes": [ + 15, + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8136, + 8571 + ], + "skill_idxes": [ + 18 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 8571, + 10905 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10905, + 15795 + ], + "skill_idxes": [ + 23, + 24, + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 15795, + 17680 + ], + "skill_idxes": [ + 28, + 29, + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17680, + 19107 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19107, + 19656 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 19656, + 21759 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000046.json b/annotations/episode_00000046.json new file mode 100644 index 0000000000000000000000000000000000000000..99f6f6f93d6ddfdb180b774157fe5311b50e65c8 --- /dev/null +++ b/annotations/episode_00000046.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21815, + "valid_duration": [ + 25, + 21840 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25, + 259 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 259, + 740 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 740, + 1251 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1251, + 2168 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2168, + 2420 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2420, + 3385 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3385, + 3535 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3535, + 4293 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4293, + 4772 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4772, + 5063 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5063, + 5452 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5452, + 5685 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5685, + 6301 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6301, + 7238 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7238, + 7355 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7355, + 7959 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7959, + 8159 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8159, + 9494 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9494, + 10132 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10132, + 10408 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10408, + 10664 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10664, + 10887 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10887, + 11788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11788, + 12489 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12489, + 12796 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12796, + 12907 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12907, + 13317 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13317, + 13663 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13663, + 14168 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14168, + 14598 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14598, + 14961 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14961, + 15762 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15762, + 18140 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18140, + 18899 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18899, + 19370 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19370, + 19754 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19754, + 20380 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20380, + 20500 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 20500, + 21147 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21147, + 21192 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 21192, + 21840 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 25, + 1251 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1251, + 2168 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2168, + 3385 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3385, + 5452 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5452, + 7959 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7959, + 10664 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10664, + 11788 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11788, + 12796 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12796, + 13663 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13663, + 14598 + ], + "skill_idxes": [ + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14598, + 14961 + ], + "skill_idxes": [ + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14961, + 19754 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19754, + 20380 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 20380, + 21840 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000051.json b/annotations/episode_00000051.json new file mode 100644 index 0000000000000000000000000000000000000000..d372b7a0fec71ba0485265b6cbaba2faf7bcab92 --- /dev/null +++ b/annotations/episode_00000051.json @@ -0,0 +1,1677 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 22782, + "valid_duration": [ + 5, + 22787 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5, + 276 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 276, + 927 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 927, + 1824 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1824, + 2754 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2754, + 2970 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2970, + 4107 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4107, + 4305 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4305, + 4779 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4779, + 5256 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5256, + 5475 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5475, + 5853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5853, + 5955 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5955, + 6543 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6543, + 7026 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7026, + 7296 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7296, + 7770 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7770, + 7905 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7905, + 8469 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8469, + 8991 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8991, + 9216 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9216, + 9753 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9753, + 9807 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [ + [ + "", + "reorient" + ] + ], + "frame_duration": [ + 9807, + 10860 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10860, + 11211 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11211, + 11538 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11538, + 12048 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12048, + 12570 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12570, + 12840 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12840, + 13680 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13680, + 14388 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14388, + 14610 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14610, + 15003 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15003, + 15288 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15288, + 15471 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15471, + 15876 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15876, + 19008 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19008, + 19893 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19893, + 20181 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20181, + 20901 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20901, + 21417 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21417, + 21639 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 21639, + 22188 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22188, + 22452 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 22452, + 22787 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 5, + 1824 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1824, + 2754 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2754, + 4107 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4107, + 5853 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5853, + 7770 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7770, + 9753 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 90, + 2 + ], + "primitive_description": [ + "push to", + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ], + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224", + "pencil_case_224" + ], + "spatial_prefix": [ + [ + [], + [ + "reorient" + ] + ], + [] + ], + "frame_duration": [ + 9753, + 11211 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11211, + 12570 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12570, + 14388 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14388, + 15288 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15288, + 15471 + ], + "skill_idxes": [ + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15471, + 20901 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20901, + 21417 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 21417, + 22787 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000061.json b/annotations/episode_00000061.json new file mode 100644 index 0000000000000000000000000000000000000000..949f03ae86f5590fb999232a0691e39036994968 --- /dev/null +++ b/annotations/episode_00000061.json @@ -0,0 +1,1577 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17333, + "valid_duration": [ + 4, + 17337 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 42 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 42, + 660 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 660, + 1143 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1143, + 1281 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 1281, + 2001 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 2001, + 2475 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 2475, + 2853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2853, + 2961 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 2961, + 3663 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 3663, + 4626 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 4626, + 5202 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5202, + 5646 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5646, + 6117 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6117, + 6243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6243, + 6705 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6705, + 7017 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7017, + 7320 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7320, + 7935 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7935, + 8295 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8295, + 8421 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8421, + 9015 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9015, + 9330 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9330, + 10170 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10170, + 10440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10440, + 10755 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10755, + 10941 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10941, + 11106 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11106, + 11427 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11427, + 11706 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11706, + 11844 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11844, + 12030 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12030, + 12195 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12195, + 14925 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14925, + 15096 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15096, + 15486 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15486, + 15816 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15816, + 16221 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16221, + 16328 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 16328, + 16776 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16776, + 16911 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 16911, + 17337 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 4, + 2001 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2001, + 2853 + ], + "skill_idxes": [ + 5, + 6 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 2853, + 3663 + ], + "skill_idxes": [ + 7, + 8 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 3663, + 5202 + ], + "skill_idxes": [ + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5202, + 6117 + ], + "skill_idxes": [ + 11, + 12 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6117, + 7017 + ], + "skill_idxes": [ + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7017, + 7320 + ], + "skill_idxes": [ + 16 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7320, + 9015 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9015, + 10941 + ], + "skill_idxes": [ + 21, + 22, + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10941, + 12030 + ], + "skill_idxes": [ + 26, + 27, + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12030, + 15816 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15816, + 16221 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 16221, + 17337 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000062.json b/annotations/episode_00000062.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0d56f51f4ccef5ea005e588cce22c095aa60c9 --- /dev/null +++ b/annotations/episode_00000062.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19064, + "valid_duration": [ + 58, + 19122 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 58, + 593 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 593, + 1320 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1320, + 2058 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2058, + 2904 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2904, + 3288 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3288, + 3690 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3690, + 3890 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3890, + 4329 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4329, + 4851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4851, + 5199 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5199, + 5721 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5721, + 5802 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5802, + 6780 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6780, + 7479 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7479, + 7644 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7644, + 8004 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8004, + 8280 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8280, + 9387 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9387, + 9924 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9924, + 10119 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10119, + 10428 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10428, + 10866 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10866, + 11373 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 11574 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11574, + 12054 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12054, + 12363 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12363, + 12408 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12408, + 12861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12861, + 13257 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13257, + 13416 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13416, + 14040 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14040, + 14400 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14400, + 14439 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14439, + 14844 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14844, + 15084 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15084, + 15653 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15653, + 16035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16035, + 16545 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16545, + 17130 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17130, + 17775 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17775, + 18243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 18243, + 18792 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18792, + 19122 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 58, + 2058 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2058, + 2904 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2904, + 3690 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3690, + 5721 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5721, + 8004 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8004, + 10428 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10428, + 11373 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 12363 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12363, + 13257 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13257, + 14400 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14400, + 14844 + ], + "skill_idxes": [ + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14844, + 17130 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17130, + 17775 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 17775, + 19122 + ], + "skill_idxes": [ + 40, + 41, + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000063.json b/annotations/episode_00000063.json new file mode 100644 index 0000000000000000000000000000000000000000..6de648c258071a4404f76683409cb0c7d6ad2c92 --- /dev/null +++ b/annotations/episode_00000063.json @@ -0,0 +1,1602 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 13239, + "valid_duration": [ + 3, + 13242 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3, + 153 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 153, + 546 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 546, + 1176 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1176, + 1275 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 1275, + 1941 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 1941, + 2304 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 2304, + 2598 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2598, + 2703 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 2703, + 3084 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3084, + 3249 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 3249, + 4119 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 4119, + 4824 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4824, + 4998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 4998, + 5208 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 5208, + 5613 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5613, + 5739 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5739, + 5946 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5946, + 6240 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 6240, + 6588 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6588, + 6792 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6792, + 7086 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7086, + 7272 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7272, + 7467 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7467, + 7686 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7686, + 8241 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8241, + 8682 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8682, + 8889 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8889, + 9057 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9057, + 9360 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9360, + 9534 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9534, + 9672 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9672, + 9786 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9786, + 9858 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9858, + 10821 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 10821, + 11469 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11469, + 11553 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11553, + 11895 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11895, + 12213 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12213, + 12501 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X3" + ] + ], + "frame_duration": [ + 12501, + 12684 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12684, + 12864 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 12864, + 13242 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3, + 1941 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1941, + 2598 + ], + "skill_idxes": [ + 5, + 6 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 2598, + 3084 + ], + "skill_idxes": [ + 7, + 8 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 3084, + 4824 + ], + "skill_idxes": [ + 9, + 10, + 11 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 4824, + 5613 + ], + "skill_idxes": [ + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 5613, + 6240 + ], + "skill_idxes": [ + 15, + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 6240, + 6588 + ], + "skill_idxes": [ + 18 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6588, + 7467 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7467, + 8889 + ], + "skill_idxes": [ + 23, + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8889, + 9786 + ], + "skill_idxes": [ + 27, + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 9786, + 11895 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11895, + 12213 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X3" + ] + ], + [] + ], + "frame_duration": [ + 12213, + 13242 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000065.json b/annotations/episode_00000065.json new file mode 100644 index 0000000000000000000000000000000000000000..be52fdb8e179d2f454ed0991912632ab0c9a3e7e --- /dev/null +++ b/annotations/episode_00000065.json @@ -0,0 +1,1605 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17733, + "valid_duration": [ + 27, + 17760 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 27, + 477 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 477, + 1558 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1558, + 2185 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2185, + 3238 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3238, + 3547 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3547, + 4111 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4111, + 4241 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4241, + 4600 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4600, + 4786 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4786, + 4948 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "stapler_227" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4948, + 5457 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5457, + 5701 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5701, + 6154 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6154, + 6330 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6330, + 6519 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6519, + 6687 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6687, + 7333 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7333, + 7540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7540, + 7690 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7690, + 8151 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8151, + 8398 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8398, + 9335 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9335, + 9518 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 9518, + 9868 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 9868, + 10077 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10077, + 10285 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10285, + 10488 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10488, + 10765 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10765, + 10990 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10990, + 11131 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11131, + 11370 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11370, + 11860 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11860, + 13890 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13890, + 14569 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14569, + 14953 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14953, + 15361 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15361, + 15643 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15643, + 16246 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "center" + ] + ], + "frame_duration": [ + 16246, + 16462 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "1x3" + ] + ], + "frame_duration": [ + 16462, + 17132 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17132, + 17423 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 17423, + 17760 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 27, + 2185 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2185, + 3238 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3238, + 4111 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "stapler_227" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4111, + 5457 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5457, + 6519 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6519, + 8151 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8151, + 9335 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 9335, + 10077 + ], + "skill_idxes": [ + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10077, + 10488 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10488, + 10990 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10990, + 11370 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11370, + 15361 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15361, + 15643 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [], + "primitive_description": [], + "object_id": [], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15643, + 16462 + ], + "skill_idxes": [ + 37, + 38 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "1x3" + ] + ], + [] + ], + "frame_duration": [ + 16462, + 17760 + ], + "skill_idxes": [ + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000069.json b/annotations/episode_00000069.json new file mode 100644 index 0000000000000000000000000000000000000000..41670bc89fe4cccefc7ecc27f93625bee57561e0 --- /dev/null +++ b/annotations/episode_00000069.json @@ -0,0 +1,1677 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23598, + "valid_duration": [ + 21, + 23619 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21, + 183 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 183, + 1683 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1683, + 2649 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2649, + 2904 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2904, + 3636 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3636, + 3957 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 3957, + 5337 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 5337, + 5694 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5694, + 5817 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5817, + 7044 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7044, + 7781 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7781, + 8175 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8175, + 8247 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8247, + 8751 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8751, + 9117 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9117, + 9378 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9378, + 10257 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10257, + 10695 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10695, + 10851 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10851, + 11202 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11202, + 11376 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11376, + 11958 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11958, + 12417 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12417, + 12654 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 12654, + 12948 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12948, + 13095 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13095, + 15366 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 15366, + 15951 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15951, + 16068 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 16068, + 16290 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16290, + 16500 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16500, + 17760 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 17760, + 18195 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18195, + 18393 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 18393, + 18648 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18648, + 18876 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 18876, + 19692 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19692, + 19977 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19977, + 20487 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20487, + 21072 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21072, + 21891 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21891, + 22095 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X3" + ] + ], + "frame_duration": [ + 22095, + 22980 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22980, + 23091 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 44, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23091, + 23619 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 21, + 3636 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 3636, + 5694 + ], + "skill_idxes": [ + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5694, + 7044 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7044, + 8175 + ], + "skill_idxes": [ + 10, + 11 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8175, + 9117 + ], + "skill_idxes": [ + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9117, + 10695 + ], + "skill_idxes": [ + 15, + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10695, + 11202 + ], + "skill_idxes": [ + 18, + 19 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 11202, + 12948 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12948, + 16290 + ], + "skill_idxes": [ + 25, + 26, + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 16290, + 18648 + ], + "skill_idxes": [ + 30, + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18648, + 21072 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21072, + 21891 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X3" + ] + ], + [] + ], + "frame_duration": [ + 21891, + 23619 + ], + "skill_idxes": [ + 41, + 42, + 43, + 44 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000071.json b/annotations/episode_00000071.json new file mode 100644 index 0000000000000000000000000000000000000000..76560d5c1cd1430db34daccc95dbe09ee613d02e --- /dev/null +++ b/annotations/episode_00000071.json @@ -0,0 +1,1554 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23351, + "valid_duration": [ + 51, + 23402 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 51, + 409 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 409, + 1539 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1539, + 2076 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2076, + 3294 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3294, + 3510 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3510, + 4058 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4058, + 4188 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4188, + 5511 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5511, + 6327 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6327, + 6417 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6417, + 7401 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7401, + 7572 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7572, + 9648 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9648, + 10362 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10362, + 10635 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10635, + 11158 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11158, + 11289 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11289, + 13440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 13440, + 14160 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14160, + 14325 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14325, + 14598 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14598, + 14677 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14677, + 15573 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15573, + 15930 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15930, + 16542 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16542, + 16677 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16677, + 17331 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17331, + 17724 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17724, + 18243 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 18243, + 18525 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18525, + 18639 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18639, + 19098 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19098, + 19260 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19260, + 20028 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20028, + 20460 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20460, + 20829 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20829, + 21207 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21207, + 21876 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 21876, + 22851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 22851, + 23402 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 51, + 2076 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2076, + 3294 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3294, + 4058 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4058, + 7401 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7401, + 11158 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 11158, + 14598 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14598, + 15573 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15573, + 16542 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16542, + 17724 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17724, + 18525 + ], + "skill_idxes": [ + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18525, + 19098 + ], + "skill_idxes": [ + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19098, + 21207 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21207, + 21876 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 21876, + 23402 + ], + "skill_idxes": [ + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000073.json b/annotations/episode_00000073.json new file mode 100644 index 0000000000000000000000000000000000000000..4701b446c80575a5e5b5d117a85f07f7d661731d --- /dev/null +++ b/annotations/episode_00000073.json @@ -0,0 +1,1654 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25178, + "valid_duration": [ + 82, + 25260 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 82, + 574 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 574, + 1288 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1288, + 1908 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1908, + 2684 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2684, + 2895 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2895, + 3547 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3547, + 3763 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3763, + 4405 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4405, + 5035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5035, + 5452 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5452, + 6127 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6127, + 6346 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6346, + 7063 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7063, + 7300 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7300, + 7636 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7636, + 7867 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7867, + 8155 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8155, + 8878 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8878, + 9196 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9196, + 9460 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9460, + 9853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9853, + 10225 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10225, + 11302 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11302, + 11632 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11632, + 11936 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11936, + 12391 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12391, + 12568 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12568, + 13132 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13132, + 13618 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13618, + 13800 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13800, + 14263 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14263, + 14767 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14767, + 14992 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14992, + 15316 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15316, + 15985 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15985, + 21223 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21223, + 21961 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21961, + 22777 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22777, + 23021 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23021, + 23593 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23593, + 23871 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X3" + ] + ], + "frame_duration": [ + 23871, + 24310 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24310, + 24607 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24607, + 25260 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 82, + 1908 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1908, + 2684 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2684, + 3547 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3547, + 6127 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6127, + 7867 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7867, + 9853 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9853, + 11302 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11302, + 12391 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12391, + 13618 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13618, + 14767 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14767, + 15316 + ], + "skill_idxes": [ + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15316, + 23021 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23021, + 23593 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X3" + ] + ], + [] + ], + "frame_duration": [ + 23593, + 25260 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000074.json b/annotations/episode_00000074.json new file mode 100644 index 0000000000000000000000000000000000000000..c3b4058a627444b05e9c69a7126892545ef61ba3 --- /dev/null +++ b/annotations/episode_00000074.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20716, + "valid_duration": [ + 4, + 20720 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 501 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 501, + 1035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1035, + 1695 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1695, + 2691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2691, + 2931 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2931, + 3510 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3510, + 3935 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 3935, + 4422 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4422, + 4596 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4596, + 5178 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5178, + 5421 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5421, + 6078 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6078, + 6708 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6708, + 6987 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6987, + 7392 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7392, + 7533 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7533, + 8184 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 8184, + 8631 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 8631, + 8919 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8919, + 9342 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9342, + 9951 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9951, + 10182 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10182, + 10362 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10362, + 11115 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11115, + 11331 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11331, + 11538 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11538, + 11691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11691, + 11982 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11982, + 13209 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13209, + 13584 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13584, + 13821 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13821, + 14262 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14262, + 14418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14418, + 16575 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 16575, + 17115 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17115, + 17280 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 17280, + 17499 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17499, + 18072 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 18072, + 18798 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18798, + 19443 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19443, + 19782 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19782, + 20193 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20193, + 20720 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 1695 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1695, + 2691 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ], + [] + ], + "frame_duration": [ + 2691, + 4422 + ], + "skill_idxes": [ + 4, + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 4422, + 5178 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5178, + 7392 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7392, + 8184 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 8184, + 8919 + ], + "skill_idxes": [ + 17, + 18 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8919, + 10182 + ], + "skill_idxes": [ + 19, + 20, + 21 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10182, + 11331 + ], + "skill_idxes": [ + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11331, + 11691 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11691, + 14262 + ], + "skill_idxes": [ + 27, + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14262, + 17499 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17499, + 20193 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40, + 41 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20193, + 20720 + ], + "skill_idxes": [ + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000080.json b/annotations/episode_00000080.json new file mode 100644 index 0000000000000000000000000000000000000000..582b7615fe6ba95f20a0bb8dde6b6ed85f3f8b05 --- /dev/null +++ b/annotations/episode_00000080.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 18522, + "valid_duration": [ + 24, + 18546 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24, + 300 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 300, + 1057 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1057, + 1602 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1602, + 2408 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2408, + 2717 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2717, + 3151 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3151, + 3334 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3334, + 4215 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4215, + 4504 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4504, + 4624 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4624, + 5242 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5242, + 5374 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5374, + 6673 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6673, + 7133 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7133, + 7267 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7267, + 7559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7559, + 7625 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7625, + 8564 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8564, + 8970 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8970, + 9029 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9029, + 9443 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9443, + 9563 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9563, + 10016 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10016, + 10172 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10172, + 10571 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10571, + 10828 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10828, + 10897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10897, + 11161 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11161, + 11368 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11368, + 11659 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11659, + 11842 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11842, + 12106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12106, + 12720 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12720, + 15785 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15785, + 16448 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16448, + 16790 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16790, + 16998 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16998, + 17555 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17555, + 17748 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X1" + ] + ], + "frame_duration": [ + 17748, + 18162 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18162, + 18546 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 24, + 1602 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1602, + 2408 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2408, + 3151 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3151, + 5242 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5242, + 7559 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7559, + 9443 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9443, + 10016 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10016, + 10828 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10828, + 11368 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11368, + 11842 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11842, + 12106 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12106, + 16998 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16998, + 17555 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X1" + ] + ], + [] + ], + "frame_duration": [ + 17555, + 18546 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000088.json b/annotations/episode_00000088.json new file mode 100644 index 0000000000000000000000000000000000000000..3bfad44239c2a0f0d0a3c05a990038a2eeba55cf --- /dev/null +++ b/annotations/episode_00000088.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25139, + "valid_duration": [ + 91, + 25230 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 91, + 295 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 295, + 775 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 775, + 1813 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1813, + 3293 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3293, + 3613 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3613, + 4099 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4099, + 4369 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4369, + 4915 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4915, + 5286 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5286, + 5662 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5662, + 6263 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6263, + 6493 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6493, + 7082 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7082, + 7417 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7417, + 7687 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7687, + 7944 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7944, + 8320 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8320, + 9334 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9334, + 10146 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10146, + 10429 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10429, + 10861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10861, + 11231 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11231, + 12398 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12398, + 13111 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13111, + 13915 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13915, + 13945 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13945, + 14460 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14460, + 15043 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15043, + 15422 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15422, + 15991 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15991, + 16142 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16142, + 16423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16423, + 17041 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 17041, + 19768 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19768, + 20833 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20833, + 21245 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21245, + 21952 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21952, + 22490 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22490, + 22900 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 22900, + 24103 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24103, + 24286 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24286, + 25230 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 91, + 1813 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1813, + 3293 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3293, + 4099 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4099, + 6263 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6263, + 7944 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7944, + 10861 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10861, + 12398 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12398, + 13915 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13915, + 15043 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15043, + 15991 + ], + "skill_idxes": [ + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15991, + 16423 + ], + "skill_idxes": [ + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16423, + 21952 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21952, + 22490 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 22490, + 25230 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000093.json b/annotations/episode_00000093.json new file mode 100644 index 0000000000000000000000000000000000000000..105d1be25dde58488fae7d1ef4e09a6d91c8268b --- /dev/null +++ b/annotations/episode_00000093.json @@ -0,0 +1,1586 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19230, + "valid_duration": [ + 0, + 19230 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 379 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 379, + 1052 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1052, + 1294 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 1294, + 1836 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 1836, + 2686 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 2686, + 4023 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4023, + 4147 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4147, + 4788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4788, + 5003 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5003, + 5194 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5194, + 5688 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5688, + 6031 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6031, + 6970 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6970, + 7625 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7625, + 7824 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7824, + 8206 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8206, + 8548 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8548, + 9625 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9625, + 10022 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10022, + 10261 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10261, + 10732 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10732, + 11068 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11068, + 11966 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11966, + 12158 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12158, + 12664 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12664, + 13151 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13151, + 13786 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13786, + 14278 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14278, + 14867 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14867, + 15442 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15442, + 16149 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16149, + 16369 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16369, + 16507 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16507, + 16792 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16792, + 17398 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17398, + 17817 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17817, + 18106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18106, + 18469 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18469, + 18658 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 18658, + 18910 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18910, + 19039 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19039, + 19230 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 0, + 1836 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1836, + 4023 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4023, + 5688 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5688, + 8206 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8206, + 10732 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10732, + 11966 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11966, + 13151 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13151, + 14278 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14278, + 16149 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16149, + 16507 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16507, + 18106 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18106, + 18469 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 18469, + 19230 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000101.json b/annotations/episode_00000101.json new file mode 100644 index 0000000000000000000000000000000000000000..f3aa1770bdcc76c424df04bc0739d4a0c6b7fda1 --- /dev/null +++ b/annotations/episode_00000101.json @@ -0,0 +1,1546 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25523, + "valid_duration": [ + 4, + 25527 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 360 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 360, + 2391 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 2391, + 3063 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 3063, + 3918 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3918, + 4275 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4275, + 4851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4851, + 5134 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5134, + 5769 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5769, + 6753 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6753, + 6954 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6954, + 7721 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7721, + 7914 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7914, + 8949 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8949, + 9294 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9294, + 9522 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9522, + 10206 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10206, + 10416 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10416, + 11991 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11991, + 12618 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12618, + 12885 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12885, + 13749 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13749, + 13932 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13932, + 15423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15423, + 16088 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16088, + 16530 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16530, + 17040 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17040, + 17592 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17592, + 18174 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18174, + 19203 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 19203, + 19785 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19785, + 20631 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20631, + 20988 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20988, + 21738 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21738, + 21912 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21912, + 22608 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22608, + 23778 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23778, + 24009 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 24009, + 24753 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24753, + 24822 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24822, + 25527 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 3063 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 3063, + 3918 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3918, + 4851 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4851, + 7721 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7721, + 10206 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10206, + 13749 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13749, + 15423 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15423, + 16530 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16530, + 17592 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17592, + 19785 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19785, + 20631 + ], + "skill_idxes": [ + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20631, + 22608 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22608, + 23778 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 23778, + 25527 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000113.json b/annotations/episode_00000113.json new file mode 100644 index 0000000000000000000000000000000000000000..aae5c52490f20f8c87a70f68649794365f82b899 --- /dev/null +++ b/annotations/episode_00000113.json @@ -0,0 +1,1660 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20550, + "valid_duration": [ + 60, + 20610 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 60, + 600 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 600, + 1558 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1558, + 2010 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2010, + 2406 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2406, + 3290 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 3290, + 4461 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 4461, + 5134 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 5134, + 5879 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5879, + 5992 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5992, + 6802 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6802, + 7396 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7396, + 8052 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8052, + 8677 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8677, + 9151 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9151, + 9205 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9205, + 9656 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9656, + 10210 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10210, + 10327 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10327, + 10606 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10606, + 10759 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10759, + 11209 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11209, + 11611 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11611, + 11902 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 11902, + 12277 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12277, + 12580 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12580, + 13249 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13249, + 13858 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13858, + 14020 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 14020, + 14556 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14556, + 14773 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14773, + 15469 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 15469, + 15784 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15784, + 15895 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 15895, + 16189 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16189, + 16393 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16393, + 16914 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16914, + 17746 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17746, + 18313 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18313, + 18883 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18883, + 19256 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19256, + 19592 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 19592, + 19896 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19896, + 20107 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20107, + 20610 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 60, + 3290 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 3290, + 5879 + ], + "skill_idxes": [ + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5879, + 6802 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6802, + 8052 + ], + "skill_idxes": [ + 10, + 11 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8052, + 9151 + ], + "skill_idxes": [ + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9151, + 10210 + ], + "skill_idxes": [ + 14, + 15, + 16 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10210, + 10606 + ], + "skill_idxes": [ + 17, + 18 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 10606, + 12277 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12277, + 14556 + ], + "skill_idxes": [ + 24, + 25, + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14556, + 16189 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16189, + 18883 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18883, + 19256 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 19256, + 20610 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000118.json b/annotations/episode_00000118.json new file mode 100644 index 0000000000000000000000000000000000000000..964d29db80d2ece3853407c693be4e864471b18c --- /dev/null +++ b/annotations/episode_00000118.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 22359, + "valid_duration": [ + 18, + 22377 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18, + 223 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 223, + 1048 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1048, + 1841 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1841, + 2805 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2805, + 2962 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2962, + 3360 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3360, + 3619 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3619, + 4176 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4176, + 4546 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4546, + 4839 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4839, + 5194 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5194, + 5415 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5415, + 6249 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6249, + 7033 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7033, + 7248 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7248, + 8089 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8089, + 8355 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8355, + 9502 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9502, + 10054 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10054, + 10110 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10110, + 10950 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10950, + 11216 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11216, + 12775 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12775, + 12849 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12849, + 13665 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13665, + 14065 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14065, + 14128 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14128, + 15105 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15105, + 15488 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15488, + 15687 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15687, + 17233 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17233, + 17629 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17629, + 18196 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18196, + 18495 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18495, + 19185 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19185, + 19467 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19467, + 19788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19788, + 20613 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20613, + 20850 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 20850, + 21721 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 21721, + 22377 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 18, + 1841 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1841, + 2805 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2805, + 3360 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3360, + 5194 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5194, + 8089 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8089, + 10950 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10950, + 12775 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12775, + 14065 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14065, + 15488 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15488, + 17629 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17629, + 18196 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18196, + 19788 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19788, + 20613 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 20613, + 22377 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000121.json b/annotations/episode_00000121.json new file mode 100644 index 0000000000000000000000000000000000000000..9137715e4d3053ea959e1a8efead779d058ef663 --- /dev/null +++ b/annotations/episode_00000121.json @@ -0,0 +1,1616 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 27432, + "valid_duration": [ + 0, + 27432 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 120 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 120, + 893 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 893, + 1436 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1436, + 2297 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2297, + 2996 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2996, + 3404 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3404, + 3889 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3889, + 5753 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5753, + 6560 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6560, + 6775 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6775, + 7156 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7156, + 7566 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7566, + 9454 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9454, + 10350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10350, + 10500 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10500, + 11130 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11130, + 11444 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11444, + 12439 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12439, + 12999 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12999, + 13263 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13263, + 14018 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14018, + 14402 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14402, + 14857 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14857, + 15235 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15235, + 15765 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15765, + 15906 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15906, + 16646 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16646, + 17285 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17285, + 17632 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17632, + 18232 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18232, + 19107 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19107, + 19649 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19649, + 20305 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 20305, + 22718 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22718, + 23928 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23928, + 24348 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24348, + 25013 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25013, + 25804 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25804, + 26053 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 26053, + 26778 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 26778, + 26820 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 26820, + 27432 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1436 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1436, + 2297 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2297, + 3404 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3404, + 7156 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7156, + 11130 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 90, + 2, + 3 + ], + "primitive_description": [ + "push to", + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [ + [], + [ + "to_the_edge_of" + ] + ], + [], + [] + ], + "frame_duration": [ + 11130, + 14018 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [], + "primitive_description": [], + "object_id": [], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14018, + 14857 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 6 + ], + "primitive_description": [ + "pick up from", + "insert" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ], + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228", + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14857, + 15765 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15765, + 17285 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17285, + 19107 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19107, + 19649 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19649, + 25013 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25013, + 25804 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 25804, + 27432 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000122.json b/annotations/episode_00000122.json new file mode 100644 index 0000000000000000000000000000000000000000..49658f347ec62e08f286aa2c1a57f1d163d09020 --- /dev/null +++ b/annotations/episode_00000122.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 22233, + "valid_duration": [ + 117, + 22350 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 117, + 239 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 239, + 930 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 930, + 1578 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1578, + 2528 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2528, + 2787 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2787, + 3420 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3420, + 3630 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3630, + 4560 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4560, + 5064 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5064, + 5250 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5250, + 5625 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5625, + 5769 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5769, + 6735 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6735, + 7257 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7257, + 7473 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7473, + 7749 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7749, + 8109 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8109, + 8910 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8910, + 9399 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9399, + 9666 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9666, + 10557 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10557, + 11853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11853, + 12273 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12273, + 13176 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13176, + 13731 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13731, + 14052 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14052, + 14871 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14871, + 15306 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15306, + 15492 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15492, + 15891 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15891, + 16245 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16245, + 16656 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16656, + 16866 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16866, + 18207 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18207, + 19392 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19392, + 19890 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19890, + 20616 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20616, + 21072 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21072, + 21291 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 21291, + 21777 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 21777, + 22350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 117, + 1578 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1578, + 2528 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2528, + 3420 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3420, + 5625 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5625, + 7749 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7749, + 10557 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10557, + 11853 + ], + "skill_idxes": [ + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11853, + 13731 + ], + "skill_idxes": [ + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13731, + 15306 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15306, + 16245 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16245, + 16656 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16656, + 20616 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20616, + 21072 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 21072, + 22350 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000124.json b/annotations/episode_00000124.json new file mode 100644 index 0000000000000000000000000000000000000000..80cec68daebfae332e3d348b6c045853e5c4f7a9 --- /dev/null +++ b/annotations/episode_00000124.json @@ -0,0 +1,1546 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 24503, + "valid_duration": [ + 0, + 24503 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 313 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 313, + 1238 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1238, + 1920 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1920, + 2476 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2476, + 3190 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3190, + 3509 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3509, + 3902 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3902, + 4659 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4659, + 5214 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5214, + 5682 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5682, + 6127 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6127, + 6507 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6507, + 7220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7220, + 7971 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7971, + 8183 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8183, + 8950 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8950, + 9272 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9272, + 10148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10148, + 10853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10853, + 11245 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11245, + 11968 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11968, + 12052 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12052, + 13553 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13553, + 14183 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14183, + 14775 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14775, + 15668 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15668, + 16268 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16268, + 16424 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16424, + 17078 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17078, + 17784 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17784, + 18214 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18214, + 18877 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18877, + 19565 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19565, + 19766 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19766, + 20226 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20226, + 21002 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21002, + 21423 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "1x1" + ] + ], + "frame_duration": [ + 21423, + 23687 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23687, + 23897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23897, + 24503 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1920 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1920, + 2476 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2476, + 3509 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3509, + 6127 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6127, + 8950 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8950, + 11968 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11968, + 13553 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13553, + 14775 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14775, + 16268 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16268, + 17784 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17784, + 18214 + ], + "skill_idxes": [ + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18214, + 20226 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20226, + 21002 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "1x1" + ] + ], + [] + ], + "frame_duration": [ + 21002, + 24503 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000125.json b/annotations/episode_00000125.json new file mode 100644 index 0000000000000000000000000000000000000000..1e46c2ac72bf0d5c6cb447e4805f5a29672259ae --- /dev/null +++ b/annotations/episode_00000125.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26439, + "valid_duration": [ + 0, + 26439 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 325 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 325, + 1350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1350, + 1963 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1963, + 2740 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2740, + 3388 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3388, + 3766 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3766, + 4110 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4110, + 5572 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5572, + 6349 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6349, + 6539 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6539, + 6937 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6937, + 7156 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7156, + 7649 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7649, + 8177 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8177, + 8444 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8444, + 9043 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9043, + 9184 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9184, + 10221 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10221, + 10681 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10681, + 11014 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11014, + 11559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11559, + 11722 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11722, + 13308 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13308, + 14147 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14147, + 14746 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14746, + 15397 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15397, + 16051 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16051, + 16142 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16142, + 17822 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17822, + 18490 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18490, + 19153 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19153, + 19780 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19780, + 22486 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22486, + 23265 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23265, + 23683 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23683, + 24349 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24349, + 25273 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25273, + 25424 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 25424, + 25795 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25795, + 25918 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 25918, + 26439 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1963 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1963, + 2740 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2740, + 3766 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3766, + 6937 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6937, + 9043 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9043, + 11559 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11559, + 13308 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13308, + 14746 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14746, + 16051 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16051, + 18490 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18490, + 19153 + ], + "skill_idxes": [ + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19153, + 24349 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24349, + 25273 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 25273, + 26439 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000127.json b/annotations/episode_00000127.json new file mode 100644 index 0000000000000000000000000000000000000000..f40c2043f952487eb010e3c76e04e19f15e27e0f --- /dev/null +++ b/annotations/episode_00000127.json @@ -0,0 +1,1734 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 24347, + "valid_duration": [ + 13, + 24360 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13, + 45 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 45, + 901 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 901, + 1540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1540, + 1976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1976, + 2686 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2686, + 3136 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3136, + 3595 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3595, + 4966 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4966, + 5761 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5761, + 6016 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6016, + 6472 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6472, + 6925 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6925, + 7516 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7516, + 7603 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7603, + 8111 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8111, + 8278 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8278, + 10047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10047, + 10627 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10627, + 10811 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10811, + 11677 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11677, + 12073 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12073, + 12864 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12864, + 13207 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13207, + 13516 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13516, + 14077 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14077, + 14342 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14342, + 15064 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15064, + 15144 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15144, + 16150 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16150, + 16810 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16810, + 16825 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16825, + 17363 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17363, + 17896 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17896, + 18002 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 18002, + 18568 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 18568, + 19180 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19180, + 19672 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19672, + 20185 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20185, + 20851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20851, + 21373 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21373, + 21958 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21958, + 22750 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22750, + 23041 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 23041, + 23428 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 44, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23428, + 23746 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 45, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23746, + 24360 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 13, + 1540 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1540, + 1976 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 1976, + 3136 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3136, + 6472 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ], + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228", + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6472, + 8111 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 8111, + 11677 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11677, + 14077 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14077, + 15064 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15064, + 16810 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16810, + 17896 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17896, + 19180 + ], + "skill_idxes": [ + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19180, + 19672 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19672, + 21958 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21958, + 22750 + ], + "skill_idxes": [ + 41 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 22750, + 24360 + ], + "skill_idxes": [ + 42, + 43, + 44, + 45 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000129.json b/annotations/episode_00000129.json new file mode 100644 index 0000000000000000000000000000000000000000..7e5c61ed3e0a94b31b87e7996bcde899ff6e4c8b --- /dev/null +++ b/annotations/episode_00000129.json @@ -0,0 +1,1619 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 16527, + "valid_duration": [ + 0, + 16527 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 285 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 285, + 750 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 750, + 1539 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1539, + 1655 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 1655, + 2275 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 2275, + 3103 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 3103, + 4155 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4155, + 4253 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4253, + 4606 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4606, + 4927 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4927, + 5134 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5134, + 5431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5431, + 5577 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5577, + 6703 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6703, + 6964 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6964, + 7132 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7132, + 7409 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7409, + 7666 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7666, + 8041 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8041, + 8337 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8337, + 8544 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8544, + 8802 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8802, + 8860 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8860, + 9363 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9363, + 9670 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9670, + 10138 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10138, + 10636 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10636, + 10897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10897, + 11167 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11167, + 11732 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11732, + 12037 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12037, + 12295 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12295, + 12901 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12901, + 13213 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13213, + 13671 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13671, + 14064 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14064, + 14554 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14554, + 14980 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14980, + 15238 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15238, + 15334 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 15334, + 16141 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16141, + 16279 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 16279, + 16527 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 0, + 2275 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2275, + 4155 + ], + "skill_idxes": [ + 5, + 6 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4155, + 5431 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10, + 11 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5431, + 7409 + ], + "skill_idxes": [ + 12, + 13, + 14, + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7409, + 8802 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8802, + 9363 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9363, + 10636 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10636, + 11732 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11732, + 12901 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12901, + 13213 + ], + "skill_idxes": [ + 33 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13213, + 14980 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14980, + 15238 + ], + "skill_idxes": [ + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 15238, + 16527 + ], + "skill_idxes": [ + 39, + 40, + 41, + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000130.json b/annotations/episode_00000130.json new file mode 100644 index 0000000000000000000000000000000000000000..543f1f094f9fe49336a450e52bb36ced8b2e3ac1 --- /dev/null +++ b/annotations/episode_00000130.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21437, + "valid_duration": [ + 15, + 21452 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15, + 129 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 129, + 672 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 672, + 1410 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1410, + 2388 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2388, + 2604 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2604, + 3030 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3030, + 3312 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3312, + 3714 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 3714, + 4080 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4080, + 4293 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4293, + 5263 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5263, + 5465 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5465, + 7530 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7530, + 8094 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8094, + 8277 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8277, + 8627 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8627, + 8760 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8760, + 9588 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9588, + 9778 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9778, + 10050 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10050, + 10470 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10470, + 10524 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10524, + 11085 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11085, + 11415 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11415, + 11577 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11577, + 11953 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11953, + 12270 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12270, + 12651 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12651, + 13572 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13572, + 14502 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14508, + 14679 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 14679, + 15354 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15354, + 15708 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15708, + 18150 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18150, + 18717 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18717, + 18978 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18978, + 19362 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19362, + 19959 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19959, + 20172 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 20172, + 20610 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20610, + 20766 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20766, + 21452 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 15, + 1410 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1410, + 2388 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2388, + 3030 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3030, + 5263 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5263, + 8627 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8627, + 9588 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9588, + 10470 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10470, + 11415 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11415, + 12270 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12270, + 12651 + ], + "skill_idxes": [ + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12651, + 15354 + ], + "skill_idxes": [ + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15354, + 19362 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19362, + 19959 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 19959, + 21452 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000132.json b/annotations/episode_00000132.json new file mode 100644 index 0000000000000000000000000000000000000000..aeb72fe485aaee541bf258ea8f61c5bcf2b796bb --- /dev/null +++ b/annotations/episode_00000132.json @@ -0,0 +1,1529 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 27717, + "valid_duration": [ + 33, + 27750 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 33, + 387 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 387, + 1230 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1230, + 1884 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1884, + 3192 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3192, + 4025 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4025, + 4380 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4380, + 5637 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5637, + 6729 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6729, + 6849 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6849, + 7329 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7329, + 7680 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7680, + 8778 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8778, + 9633 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9633, + 9864 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9864, + 10590 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10590, + 10836 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10836, + 12078 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12078, + 12456 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12456, + 12741 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12741, + 13302 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13302, + 13638 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13638, + 14180 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14180, + 14976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14976, + 15372 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15372, + 15471 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15471, + 16086 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16086, + 16438 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16438, + 17391 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17391, + 17811 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17811, + 18196 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18196, + 18870 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 18870, + 22902 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22902, + 24249 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24249, + 24564 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24564, + 25305 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25305, + 26355 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 26355, + 26418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 26418, + 26940 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 26940, + 27750 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 33, + 1884 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1884, + 3192 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3192, + 4025 + ], + "skill_idxes": [ + 4 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4025, + 7329 + ], + "skill_idxes": [ + 5, + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7329, + 10590 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10590, + 13302 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13302, + 14180 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14180, + 15372 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15372, + 16438 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16438, + 17811 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17811, + 18196 + ], + "skill_idxes": [ + 29 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18196, + 25305 + ], + "skill_idxes": [ + 30, + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25305, + 26355 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 26355, + 27750 + ], + "skill_idxes": [ + 36, + 37, + 38 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000135.json b/annotations/episode_00000135.json new file mode 100644 index 0000000000000000000000000000000000000000..25aa24952e7d27cf81a7f33c6431a7d42508bca6 --- /dev/null +++ b/annotations/episode_00000135.json @@ -0,0 +1,1654 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 24395, + "valid_duration": [ + 25, + 24420 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25, + 325 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 325, + 1000 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1000, + 1951 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1951, + 2884 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2884, + 3064 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3064, + 3484 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3484, + 3895 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3895, + 4577 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4577, + 4999 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4999, + 5267 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5267, + 6148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6148, + 6572 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6572, + 7552 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7552, + 8407 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8407, + 8770 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8770, + 9621 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9621, + 9922 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9922, + 12391 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12391, + 12979 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12979, + 13065 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 13065, + 13806 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13806, + 14171 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14171, + 14512 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14512, + 14682 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14682, + 15306 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15306, + 16122 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16122, + 16363 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16363, + 17245 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17245, + 17827 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17827, + 18200 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18200, + 18750 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18750, + 19297 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19297, + 19458 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19458, + 19676 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19676, + 19984 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19984, + 21043 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21043, + 21901 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21901, + 22300 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22300, + 22648 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22648, + 23145 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23145, + 23353 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 23353, + 23824 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23824, + 23857 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23857, + 24420 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 25, + 1951 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1951, + 2884 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2884, + 3484 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3484, + 6148 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6148, + 9621 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9621, + 13806 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13806, + 14512 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14512, + 16122 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16122, + 17827 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17827, + 19297 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19297, + 19676 + ], + "skill_idxes": [ + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19676, + 22648 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22648, + 23145 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 23145, + 24420 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000137.json b/annotations/episode_00000137.json new file mode 100644 index 0000000000000000000000000000000000000000..8ebcc69ad009c396c36eb24e04b2c84033bce63b --- /dev/null +++ b/annotations/episode_00000137.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 28440, + "valid_duration": [ + 0, + 28440 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 257 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 257, + 1147 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1147, + 1795 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1795, + 3000 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3000, + 3139 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3139, + 3724 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3724, + 4033 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4033, + 4912 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4912, + 5812 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5812, + 6052 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6052, + 6529 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6529, + 6842 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6842, + 8155 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8155, + 8764 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8764, + 9046 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9046, + 9916 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9916, + 10225 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10225, + 11845 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11845, + 12547 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12547, + 12832 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12832, + 13567 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13567, + 13788 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13788, + 15001 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15001, + 15087 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15087, + 15820 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15820, + 16200 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16200, + 17168 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17168, + 17746 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17746, + 17837 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17837, + 18556 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18556, + 19035 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19035, + 19411 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19411, + 20072 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 20072, + 23662 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23662, + 24838 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24838, + 25112 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25112, + 25792 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25792, + 26782 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 26782, + 27121 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 27121, + 27679 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 27679, + 27763 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 27763, + 28440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1795 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1795, + 3000 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3000, + 3724 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3724, + 6529 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6529, + 9916 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9916, + 13567 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13567, + 15001 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15001, + 16200 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16200, + 17746 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17746, + 19035 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19035, + 19411 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19411, + 25792 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 25792, + 26782 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 26782, + 28440 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000141.json b/annotations/episode_00000141.json new file mode 100644 index 0000000000000000000000000000000000000000..38d89c11fb0605dac53e29d5bb7dec8ed354b915 --- /dev/null +++ b/annotations/episode_00000141.json @@ -0,0 +1,1471 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25206, + "valid_duration": [ + 24, + 25230 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24, + 216 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 216, + 1077 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1077, + 1726 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1726, + 3327 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3327, + 3633 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3633, + 4047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4047, + 4476 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4476, + 5115 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5115, + 5514 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5514, + 5895 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5895, + 6252 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6252, + 6594 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6594, + 7668 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7668, + 8337 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8337, + 8490 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8490, + 9483 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9483, + 11550 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11550, + 12276 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12276, + 12720 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12720, + 13260 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13260, + 13437 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13437, + 14700 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14700, + 15473 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15473, + 16113 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16113, + 17418 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17418, + 17892 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17892, + 19014 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19014, + 19635 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19635, + 20487 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20487, + 20937 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20937, + 21561 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21561, + 21774 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21774, + 22383 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22383, + 23616 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23616, + 23865 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 23865, + 24456 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24456, + 25230 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 24, + 1726 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1726, + 3327 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3327, + 4047 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4047, + 6252 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6252, + 9483 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9483, + 13260 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13260, + 14700 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14700, + 16113 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16113, + 17892 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17892, + 19635 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19635, + 20487 + ], + "skill_idxes": [ + 28 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20487, + 22383 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22383, + 23616 + ], + "skill_idxes": [ + 33 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 23616, + 25230 + ], + "skill_idxes": [ + 34, + 35, + 36 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000143.json b/annotations/episode_00000143.json new file mode 100644 index 0000000000000000000000000000000000000000..b7fab08938e365546e93e646e6dd168b3bc861b9 --- /dev/null +++ b/annotations/episode_00000143.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 24028, + "valid_duration": [ + 12, + 24040 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12, + 124 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 124, + 1144 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1144, + 1637 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1637, + 3006 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3006, + 3127 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3127, + 3547 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3547, + 3697 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3697, + 6075 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6075, + 6838 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6838, + 7000 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7000, + 7354 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7354, + 7601 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7601, + 8944 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8944, + 9608 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9608, + 9868 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9868, + 10609 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10609, + 10918 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10918, + 12094 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12094, + 12573 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12573, + 12934 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12934, + 13737 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13737, + 14038 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14038, + 14995 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14995, + 15102 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15102, + 15779 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15779, + 16342 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16342, + 16435 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16435, + 17218 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17218, + 17638 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17638, + 17749 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17749, + 18220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18220, + 18667 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18667, + 19201 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19201, + 19564 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19564, + 20263 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20263, + 20660 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20660, + 21280 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21280, + 22204 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22204, + 22423 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 22423, + 23305 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23305, + 24040 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 12, + 1637 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1637, + 3006 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3006, + 3547 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3547, + 7354 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7354, + 10609 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10609, + 13737 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13737, + 14995 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14995, + 16342 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16342, + 17638 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17638, + 18667 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18667, + 19201 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19201, + 21280 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21280, + 22204 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 22204, + 24040 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000146.json b/annotations/episode_00000146.json new file mode 100644 index 0000000000000000000000000000000000000000..b217c0019cc717b38c0440642b49d9377014f01e --- /dev/null +++ b/annotations/episode_00000146.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26678, + "valid_duration": [ + 78, + 26756 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 78, + 243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 243, + 1273 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1273, + 2458 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2458, + 3987 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3987, + 4087 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4087, + 5004 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5004, + 5313 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5313, + 5735 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5735, + 6261 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6261, + 6463 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6463, + 7088 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7088, + 7358 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7358, + 8936 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8936, + 9536 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9536, + 9866 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9866, + 10937 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10937, + 11270 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11270, + 12409 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12409, + 13027 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13030, + 13165 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13165, + 13810 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13810, + 14056 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14056, + 15538 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15538, + 16450 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16450, + 16914 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16914, + 16944 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16944, + 17313 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17313, + 17565 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17565, + 17628 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17628, + 17934 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17934, + 18279 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18279, + 18366 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18366, + 18600 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18600, + 19137 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19137, + 22420 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22420, + 23537 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23537, + 23762 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23762, + 24542 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24542, + 25217 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25217, + 25379 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 25379, + 26150 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 26150, + 26321 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 26321, + 26756 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 78, + 2458 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2458, + 3987 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3987, + 5004 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5004, + 7088 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7088, + 10937 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10937, + 13810 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13810, + 15538 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15538, + 16914 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16914, + 17565 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17565, + 18279 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18279, + 18600 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18600, + 24542 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24542, + 25217 + ], + "skill_idxes": [ + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 25217, + 26756 + ], + "skill_idxes": [ + 39, + 40, + 41, + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000150.json b/annotations/episode_00000150.json new file mode 100644 index 0000000000000000000000000000000000000000..9564be5bf90b6997058cda8f96c3d56d9215ea6f --- /dev/null +++ b/annotations/episode_00000150.json @@ -0,0 +1,1577 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20447, + "valid_duration": [ + 0, + 20447 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 560 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 560, + 1074 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1074, + 1673 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1673, + 2840 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2840, + 2969 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2969, + 3623 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3623, + 3861 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3861, + 4463 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4463, + 4832 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4832, + 5206 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5206, + 5389 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5389, + 5592 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5592, + 6275 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6275, + 6554 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6554, + 6805 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6805, + 7274 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7274, + 7763 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7763, + 8970 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8970, + 9606 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9606, + 10097 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10097, + 10439 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10439, + 11376 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11376, + 11870 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11870, + 12293 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12293, + 12740 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12740, + 12980 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12980, + 13426 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13426, + 13561 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13561, + 15586 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 15586, + 16046 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16046, + 16171 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 16171, + 16519 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16519, + 16921 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16921, + 17384 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17384, + 17717 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17717, + 18021 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18021, + 18339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18339, + 18962 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "1x1" + ] + ], + "frame_duration": [ + 18962, + 20069 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20069, + 20447 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1673 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1673, + 2840 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2840, + 3623 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3623, + 5389 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5389, + 7274 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 90, + 2 + ], + "primitive_description": [ + "push to", + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ], + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224", + "pencil_case_224" + ], + "spatial_prefix": [ + [ + [], + [ + "to_the_edge_of" + ] + ], + [] + ], + "frame_duration": [ + 7274, + 9606 + ], + "skill_idxes": [ + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9606, + 10439 + ], + "skill_idxes": [ + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10439, + 11870 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11870, + 12740 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12740, + 13426 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13426, + 16519 + ], + "skill_idxes": [ + 27, + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16519, + 18339 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18339, + 18962 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "1x1" + ] + ], + [] + ], + "frame_duration": [ + 18962, + 20447 + ], + "skill_idxes": [ + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000154.json b/annotations/episode_00000154.json new file mode 100644 index 0000000000000000000000000000000000000000..3da01fb259fcccf5e84a05dc34755761d57b27a1 --- /dev/null +++ b/annotations/episode_00000154.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25665, + "valid_duration": [ + 232, + 25897 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 232, + 397 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 397, + 1450 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1450, + 2033 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2033, + 2609 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2609, + 3375 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3375, + 3893 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3893, + 4079 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4079, + 6159 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6159, + 7005 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7005, + 7228 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7228, + 7896 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7896, + 8201 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8201, + 10036 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10036, + 10609 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10609, + 10984 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10984, + 11613 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11613, + 11863 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11863, + 13508 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13508, + 14183 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14183, + 14405 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 14405, + 15223 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15223, + 15629 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15629, + 16362 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16362, + 17026 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17026, + 17644 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17644, + 17731 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17731, + 18543 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18543, + 19050 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19050, + 19171 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19171, + 19891 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19891, + 20436 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20436, + 20954 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20954, + 21730 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21730, + 22531 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22531, + 22990 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22990, + 23473 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23473, + 24693 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24693, + 24844 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 24844, + 25139 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25139, + 25249 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 25249, + 25897 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 232, + 2033 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2033, + 2609 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2609, + 3893 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3893, + 7896 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7896, + 11613 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11613, + 15223 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15223, + 16362 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16362, + 17644 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17644, + 19050 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19050, + 20436 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20436, + 20954 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20954, + 23473 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23473, + 24693 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 24693, + 25897 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000156.json b/annotations/episode_00000156.json new file mode 100644 index 0000000000000000000000000000000000000000..0c906fe22e3ecca5dd94943143914dc503c529c0 --- /dev/null +++ b/annotations/episode_00000156.json @@ -0,0 +1,1611 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23741, + "valid_duration": [ + 4, + 23745 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 318 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 318, + 1218 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1218, + 1788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1788, + 2649 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2649, + 3375 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3375, + 3860 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3860, + 4179 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4179, + 4767 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4767, + 4827 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4830, + 6111 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6111, + 6621 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6621, + 7005 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7005, + 7437 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7437, + 8409 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8409, + 8700 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 8700, + 9066 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9066, + 9978 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9978, + 10788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10788, + 10953 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10953, + 11841 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11841, + 12123 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12123, + 12828 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12828, + 13263 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13263, + 13494 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13494, + 14451 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14451, + 14526 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14526, + 15728 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15728, + 16371 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16371, + 16869 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16869, + 16944 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16944, + 17799 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17799, + 18345 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18345, + 18420 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18420, + 19470 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 19470, + 19995 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19995, + 20586 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20586, + 21069 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21069, + 21948 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21948, + 22095 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22095, + 22695 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22695, + 23745 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 1788 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1788, + 2649 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2649, + 3860 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + [], + [ + "to_the_edge_of" + ] + ] + ], + "frame_duration": [ + 3860, + 4767 + ], + "skill_idxes": [ + 6, + 7 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4767, + 7437 + ], + "skill_idxes": [ + 8, + 9, + 10, + 11, + 12 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 7437, + 9066 + ], + "skill_idxes": [ + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 9066, + 11841 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11841, + 14451 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14451, + 15728 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15728, + 16869 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16869, + 18345 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18345, + 19995 + ], + "skill_idxes": [ + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19995, + 20586 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20586, + 22695 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22695, + 23745 + ], + "skill_idxes": [ + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000164.json b/annotations/episode_00000164.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc0ee5ce8838fa754cdb29481cb2c99a2633a17 --- /dev/null +++ b/annotations/episode_00000164.json @@ -0,0 +1,1554 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 18675, + "valid_duration": [ + 3, + 18678 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3, + 474 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 474, + 1108 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1108, + 1830 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1830, + 2505 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2505, + 2700 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2700, + 3318 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3318, + 3507 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 3507, + 4224 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4224, + 4443 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 4443, + 5283 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5283, + 6138 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6138, + 6528 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6528, + 6678 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6678, + 7188 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7188, + 8565 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8565, + 9237 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9237, + 9495 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9495, + 9645 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9645, + 9963 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9963, + 10440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10440, + 10890 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10890, + 11901 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11901, + 12240 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12240, + 12363 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12363, + 12636 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12636, + 12897 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12897, + 13305 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13305, + 13479 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13479, + 13608 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13608, + 13899 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13899, + 14364 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14364, + 15336 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 15336, + 15762 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15762, + 15936 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 15936, + 16152 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16152, + 16740 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16740, + 17529 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17529, + 17808 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17808, + 18129 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18129, + 18678 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 3, + 1830 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1830, + 2505 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2505, + 3318 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 3318, + 5283 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5283, + 7188 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7188, + 9645 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9645, + 10440 + ], + "skill_idxes": [ + 18, + 19 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10440, + 12240 + ], + "skill_idxes": [ + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12240, + 12897 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12897, + 13479 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13479, + 13899 + ], + "skill_idxes": [ + 28, + 29 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13899, + 16152 + ], + "skill_idxes": [ + 30, + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16152, + 18129 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18129, + 18678 + ], + "skill_idxes": [ + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000165.json b/annotations/episode_00000165.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ae6e78c9be1e65c979613384069d523be1a4ff --- /dev/null +++ b/annotations/episode_00000165.json @@ -0,0 +1,1734 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 24786, + "valid_duration": [ + 24, + 24810 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24, + 261 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 261, + 1092 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1092, + 1689 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1689, + 2244 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2244, + 2895 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2895, + 3396 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3396, + 3822 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3822, + 4971 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4971, + 5760 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5760, + 6045 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6045, + 6534 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6534, + 6867 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6867, + 7440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7440, + 7530 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7530, + 7691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7698, + 7751 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7751, + 9021 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9021, + 9573 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9573, + 9927 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9927, + 10596 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10596, + 10812 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10812, + 12504 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12504, + 13368 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13368, + 13659 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13659, + 14331 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14331, + 14502 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14502, + 15861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15861, + 15936 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15936, + 16599 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16599, + 17037 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17037, + 17115 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17115, + 17781 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17781, + 18423 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18423, + 18543 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18543, + 19338 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 19338, + 19998 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19998, + 20388 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20388, + 20901 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20901, + 21723 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21723, + 22029 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22029, + 22572 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22572, + 23403 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23403, + 23631 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 23631, + 24057 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 44, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24057, + 24141 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 45, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 24141, + 24810 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 24, + 1689 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1689, + 2244 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2244, + 3396 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3396, + 6534 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ], + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229", + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6534, + 7691 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7698, + 10596 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10596, + 14331 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14331, + 15861 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15861, + 17037 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17037, + 18423 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18423, + 19998 + ], + "skill_idxes": [ + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 19998, + 20388 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20388, + 22572 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22572, + 23403 + ], + "skill_idxes": [ + 41 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 23403, + 24810 + ], + "skill_idxes": [ + 42, + 43, + 44, + 45 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000168.json b/annotations/episode_00000168.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa3ca58fc8316a32fb30beedccf39ffef86521f --- /dev/null +++ b/annotations/episode_00000168.json @@ -0,0 +1,1546 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23550, + "valid_duration": [ + 0, + 23550 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 127 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 127, + 1243 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1243, + 1843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1843, + 2473 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2473, + 3220 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3220, + 3715 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3715, + 3838 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3838, + 5980 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5980, + 6823 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6823, + 7012 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7012, + 7530 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7530, + 7820 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7820, + 8434 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8434, + 8872 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8872, + 9148 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9148, + 9691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9691, + 9940 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9940, + 11035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11035, + 11759 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11759, + 12043 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12043, + 13240 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13240, + 13571 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13571, + 14032 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14032, + 14696 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14696, + 15239 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15239, + 16219 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16219, + 16738 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16738, + 16896 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16896, + 18002 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18002, + 18745 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18745, + 19108 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19108, + 19505 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19505, + 20431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20431, + 20827 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20827, + 21332 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21332, + 22189 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22189, + 22447 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 22447, + 22843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22843, + 23080 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 23080, + 23550 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1843 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1843, + 2473 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2473, + 3715 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3715, + 7530 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7530, + 9691 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9691, + 13240 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13240, + 14032 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14032, + 15239 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15239, + 16738 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16738, + 18745 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18745, + 19108 + ], + "skill_idxes": [ + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19108, + 21332 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21332, + 22189 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 22189, + 23550 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000173.json b/annotations/episode_00000173.json new file mode 100644 index 0000000000000000000000000000000000000000..631e0d3a74297ee1f533cb085e3573aa13a7df80 --- /dev/null +++ b/annotations/episode_00000173.json @@ -0,0 +1,1546 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21474, + "valid_duration": [ + 6, + 21480 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6, + 114 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 114, + 1013 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1013, + 1796 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1796, + 2547 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2547, + 3336 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3336, + 3753 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3753, + 4053 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4053, + 4593 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4593, + 5058 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5058, + 5294 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5294, + 5718 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5718, + 6861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6861, + 6927 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 6927, + 7659 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7659, + 7751 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7751, + 8562 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8562, + 9456 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9456, + 9630 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9630, + 10413 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10413, + 10641 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10641, + 11448 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11448, + 11805 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11805, + 11994 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11994, + 12492 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12492, + 12522 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12522, + 13971 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13971, + 14739 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14739, + 15398 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15398, + 15471 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15471, + 16155 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16155, + 16680 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16680, + 16755 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16755, + 17556 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17556, + 18021 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18021, + 18528 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18528, + 18936 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18936, + 19710 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19710, + 20001 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20001, + 20496 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20496, + 21480 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 6, + 1796 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1796, + 2547 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2547, + 3753 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3753, + 5718 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 5718, + 7659 + ], + "skill_idxes": [ + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7659, + 10413 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10413, + 12492 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12492, + 13971 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13971, + 15398 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15398, + 16680 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16680, + 18021 + ], + "skill_idxes": [ + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18021, + 18528 + ], + "skill_idxes": [ + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18528, + 20496 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20496, + 21480 + ], + "skill_idxes": [ + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000177.json b/annotations/episode_00000177.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d1c50fc037e00f3cbacca8966254f75f0998a6 --- /dev/null +++ b/annotations/episode_00000177.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23307, + "valid_duration": [ + 33, + 23340 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 33, + 420 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 420, + 1233 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1233, + 1863 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1863, + 2883 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2883, + 3042 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3042, + 3540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3540, + 3822 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3822, + 4602 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4602, + 5022 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5022, + 5196 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5196, + 5703 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5703, + 5808 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5808, + 7440 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7440, + 8340 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8340, + 8592 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8592, + 9036 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9036, + 9201 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9201, + 10260 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10260, + 10617 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10617, + 10818 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10818, + 11445 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11445, + 11520 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11520, + 12552 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12552, + 12870 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12870, + 13842 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13842, + 14340 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14340, + 14418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14418, + 15441 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15441, + 16155 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16155, + 16287 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16287, + 17055 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17055, + 17739 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17739, + 18246 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18246, + 19005 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19005, + 20091 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20091, + 20343 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20343, + 20931 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20931, + 21960 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21960, + 22266 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 22266, + 22668 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22668, + 22758 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 22758, + 23340 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 33, + 1863 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1863, + 2883 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2883, + 3540 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3540, + 5703 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5703, + 9036 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9036, + 11445 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11445, + 12552 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12552, + 14340 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14340, + 16155 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16155, + 17739 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17739, + 18246 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18246, + 20931 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20931, + 21960 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 21960, + 23340 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000179.json b/annotations/episode_00000179.json new file mode 100644 index 0000000000000000000000000000000000000000..cbf9d2168901d9fa76103adf5038478773cbfee6 --- /dev/null +++ b/annotations/episode_00000179.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26494, + "valid_duration": [ + 30, + 26524 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 30, + 384 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 384, + 1242 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1242, + 1766 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1766, + 2607 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2607, + 3372 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3372, + 4044 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4044, + 4161 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4161, + 6126 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6126, + 6966 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6966, + 7137 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7137, + 7554 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7554, + 7635 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7635, + 9549 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9549, + 10221 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10221, + 10470 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10470, + 10902 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10902, + 11121 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11121, + 11991 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11991, + 12360 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12360, + 12588 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12588, + 13248 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13248, + 13521 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13521, + 14316 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14316, + 14373 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14373, + 15300 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15300, + 15846 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15846, + 16689 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16689, + 17373 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17373, + 17511 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17511, + 18090 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18090, + 18714 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18714, + 19158 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19158, + 19815 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19815, + 21345 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21345, + 22356 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22356, + 22506 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22506, + 23298 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23298, + 24444 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24444, + 24675 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 24675, + 25731 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25731, + 25869 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 25869, + 26524 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 30, + 1766 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1766, + 2607 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2607, + 4044 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4044, + 7554 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7554, + 10902 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10902, + 13248 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13248, + 14316 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14316, + 15846 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15846, + 17373 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17373, + 18714 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18714, + 19158 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19158, + 23298 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23298, + 24444 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 24444, + 26524 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000186.json b/annotations/episode_00000186.json new file mode 100644 index 0000000000000000000000000000000000000000..cafb5eddd6d6422ba170ca7d8ab3ef77e05cf698 --- /dev/null +++ b/annotations/episode_00000186.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19738, + "valid_duration": [ + 4, + 19742 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 456 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 456, + 1593 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1593, + 2262 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2262, + 2910 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2910, + 3189 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3189, + 3723 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 3723, + 4656 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4656, + 5082 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 5082, + 5550 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5550, + 5661 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5661, + 6216 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6216, + 6615 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6615, + 6810 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6810, + 7236 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7236, + 7530 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7530, + 8325 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8325, + 8751 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8751, + 9000 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9000, + 9438 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9438, + 9567 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9567, + 10767 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10767, + 11325 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11325, + 11511 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 11511, + 11928 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11928, + 12138 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12138, + 12693 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12693, + 13047 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13047, + 13887 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13887, + 14253 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14253, + 14508 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14508, + 14934 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14934, + 15336 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15336, + 15471 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15471, + 16148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16148, + 16632 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16632, + 16776 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16776, + 17034 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17034, + 17361 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 17361, + 18177 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18177, + 18579 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18579, + 18897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18897, + 19161 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19161, + 19742 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 2262 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2262, + 2910 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2910, + 3723 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 3723, + 5550 + ], + "skill_idxes": [ + 6, + 7, + 8 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5550, + 7236 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7236, + 9438 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9438, + 11928 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11928, + 12693 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12693, + 14253 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14253, + 15336 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15336, + 16632 + ], + "skill_idxes": [ + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16632, + 17034 + ], + "skill_idxes": [ + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17034, + 19161 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40, + 41 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19161, + 19742 + ], + "skill_idxes": [ + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000188.json b/annotations/episode_00000188.json new file mode 100644 index 0000000000000000000000000000000000000000..34c0e65291f3ee84c4aa5fb97a0780142748bfd2 --- /dev/null +++ b/annotations/episode_00000188.json @@ -0,0 +1,1684 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23244, + "valid_duration": [ + 36, + 23280 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 36, + 366 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 366, + 1251 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1251, + 1786 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1786, + 2416 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2416, + 3049 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3049, + 3475 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3475, + 3882 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3882, + 4885 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4885, + 5602 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5602, + 5775 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5775, + 6285 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6285, + 6568 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6568, + 7392 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7392, + 7716 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7716, + 7903 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7903, + 8659 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8659, + 8820 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8820, + 9291 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 9291, + 9703 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9703, + 9886 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9886, + 11406 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11406, + 11700 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11700, + 11920 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11920, + 12621 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12621, + 12727 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12727, + 13393 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13393, + 13705 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13705, + 14289 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14289, + 14601 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14601, + 14760 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14760, + 15364 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15364, + 15694 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15694, + 15866 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15866, + 17335 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17335, + 17827 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17827, + 18301 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18301, + 18952 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18952, + 19615 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19615, + 20091 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20091, + 20754 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20754, + 21593 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21593, + 22080 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 22080, + 22561 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 22561, + 23280 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 36, + 1786 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1786, + 2416 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2416, + 3475 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3475, + 6285 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6285, + 8659 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ], + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230", + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8659, + 9703 + ], + "skill_idxes": [ + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9703, + 12621 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12621, + 13393 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13393, + 14601 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14601, + 15694 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15694, + 17827 + ], + "skill_idxes": [ + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17827, + 18301 + ], + "skill_idxes": [ + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18301, + 20754 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20754, + 21593 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 21593, + 23280 + ], + "skill_idxes": [ + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000191.json b/annotations/episode_00000191.json new file mode 100644 index 0000000000000000000000000000000000000000..3da94912e86b4c0be9d22532131f163b62a5b1f1 --- /dev/null +++ b/annotations/episode_00000191.json @@ -0,0 +1,1717 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 27456, + "valid_duration": [ + 207, + 27663 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 207, + 378 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 378, + 1035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1035, + 1638 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1638, + 2421 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2421, + 3207 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3207, + 3711 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3711, + 4236 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 4236, + 5112 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5112, + 5205 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 5205, + 5763 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5763, + 7173 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7173, + 8208 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8208, + 8340 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8340, + 8868 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8868, + 9031 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9031, + 10962 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10962, + 11565 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11565, + 11781 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 11781, + 12339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12339, + 12507 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12507, + 13062 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13062, + 13482 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13482, + 13668 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13668, + 14325 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14325, + 14655 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14655, + 15465 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15465, + 15600 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15600, + 16431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16431, + 16896 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16896, + 17919 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17919, + 18441 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18441, + 18609 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18609, + 19539 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 19539, + 20265 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20265, + 20811 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20811, + 21543 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 21543, + 22989 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22989, + 23721 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23721, + 23919 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23919, + 24672 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24672, + 25515 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25515, + 25791 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 25791, + 27075 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 27075, + 27237 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 44, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 27237, + 27663 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 207, + 1638 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1638, + 2421 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2421, + 3711 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ], + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228", + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 3711, + 5763 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5763, + 8868 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 8868, + 12339 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12339, + 14325 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14325, + 15465 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15465, + 16896 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16896, + 18441 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18441, + 20265 + ], + "skill_idxes": [ + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20265, + 20811 + ], + "skill_idxes": [ + 34 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20811, + 24672 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24672, + 25515 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 25515, + 27663 + ], + "skill_idxes": [ + 41, + 42, + 43, + 44 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000195.json b/annotations/episode_00000195.json new file mode 100644 index 0000000000000000000000000000000000000000..19f134c131d1a52140f523f897b7f20f599eafd3 --- /dev/null +++ b/annotations/episode_00000195.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 14243, + "valid_duration": [ + 21, + 14264 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21, + 196 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 196, + 1023 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1023, + 1588 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1588, + 2028 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2028, + 2255 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2255, + 2718 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2718, + 3103 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3103, + 3464 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 3464, + 3710 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3710, + 3904 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 3904, + 4350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4350, + 4467 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4467, + 5279 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5279, + 5592 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5592, + 5800 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5800, + 6052 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6052, + 6384 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6384, + 6784 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6784, + 7259 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7259, + 7476 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7476, + 7976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7976, + 8083 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8083, + 8782 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8782, + 9042 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9042, + 9976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9976, + 10352 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10352, + 10427 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10427, + 10675 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10675, + 10949 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10949, + 11004 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11004, + 11299 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11299, + 11487 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11487, + 11715 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11715, + 11885 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11885, + 12545 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12545, + 12781 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12781, + 12945 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12945, + 13420 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13420, + 13497 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 13497, + 13870 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13870, + 13987 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 13987, + 14264 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 21, + 1588 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1588, + 2028 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2028, + 2718 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 2718, + 4350 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4350, + 6052 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6052, + 7976 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7976, + 8782 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 8782, + 10352 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10352, + 10949 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10949, + 11487 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11487, + 11715 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11715, + 12945 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12945, + 13420 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 13420, + 14264 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000206.json b/annotations/episode_00000206.json new file mode 100644 index 0000000000000000000000000000000000000000..e56b185839e08ef11a9dbb526112620403603f91 --- /dev/null +++ b/annotations/episode_00000206.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 26978, + "valid_duration": [ + 19, + 26997 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19, + 165 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 166, + 1005 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1005, + 1743 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1743, + 2482 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2485, + 3219 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3219, + 3795 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3795, + 4191 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4191, + 5733 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5733, + 6336 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6336, + 6647 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6647, + 7101 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7104, + 7452 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7452, + 9250 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9250, + 10155 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10155, + 10245 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 10245, + 11373 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 11589 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11589, + 12543 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12543, + 13059 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13059, + 13242 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13242, + 13902 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13902, + 13955 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13955, + 15432 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15432, + 16407 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16407, + 16933 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16933, + 17028 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17028, + 18633 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18633, + 19280 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19280, + 19425 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19425, + 20136 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 20136, + 20677 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20677, + 20744 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20744, + 21130 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21130, + 21775 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21775, + 22673 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22673, + 22944 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22944, + 23541 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23541, + 24876 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 24876, + 25092 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 25092, + 26106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 26106, + 26997 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 19, + 1743 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1743, + 2482 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2485, + 3795 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3795, + 7101 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7104, + 11373 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 13902 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13902, + 15432 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15432, + 16933 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16933, + 19280 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 19280, + 20677 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 20677, + 21130 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21130, + 23541 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23541, + 24876 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 24876, + 26997 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000211.json b/annotations/episode_00000211.json new file mode 100644 index 0000000000000000000000000000000000000000..7fd216acb05466b14c12f72e20f605d67eba7422 --- /dev/null +++ b/annotations/episode_00000211.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23100, + "valid_duration": [ + 6, + 23106 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6, + 447 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 447, + 1131 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1131, + 1536 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1536, + 2562 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2562, + 2631 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2631, + 2964 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2964, + 3297 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 3297, + 4074 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4074, + 4392 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4392, + 4824 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4824, + 5265 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5265, + 6300 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6300, + 6807 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6807, + 7038 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7038, + 7413 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7413, + 7581 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7581, + 8190 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8190, + 8550 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8550, + 8727 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8727, + 9207 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9207, + 9411 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9411, + 10737 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10737, + 11700 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11700, + 11811 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11811, + 12720 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12720, + 12831 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12831, + 14115 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14115, + 14160 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14160, + 14853 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14853, + 15177 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15177, + 15276 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15276, + 15993 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15993, + 16332 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16332, + 16449 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16449, + 17319 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 17319, + 17895 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17895, + 18375 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18375, + 19011 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 19011, + 20469 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20469, + 21204 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21204, + 21549 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21549, + 22068 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22068, + 23106 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 6, + 1536 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1536, + 2562 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ], + [] + ], + "frame_duration": [ + 2562, + 4074 + ], + "skill_idxes": [ + 4, + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 4074, + 4824 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4824, + 7413 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7413, + 9207 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9207, + 12720 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12720, + 14115 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14115, + 15177 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15177, + 16332 + ], + "skill_idxes": [ + 30, + 31, + 32 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16332, + 17895 + ], + "skill_idxes": [ + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17895, + 18375 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18375, + 22068 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40, + 41 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22068, + 23106 + ], + "skill_idxes": [ + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000212.json b/annotations/episode_00000212.json new file mode 100644 index 0000000000000000000000000000000000000000..8432e3e1b17feabbaa8a2811ab762736775d831f --- /dev/null +++ b/annotations/episode_00000212.json @@ -0,0 +1,1634 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 23613, + "valid_duration": [ + 60, + 23673 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 60, + 138 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 138, + 1041 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1041, + 1641 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1641, + 2338 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2338, + 3126 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3126, + 3642 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3642, + 4050 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 4050, + 4374 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 4374, + 4617 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4617, + 4728 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4728, + 5718 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5718, + 6828 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6828, + 6987 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6987, + 7416 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7416, + 7635 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7635, + 8652 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8652, + 9342 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9342, + 9579 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9579, + 10131 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10131, + 12180 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12180, + 12856 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12856, + 13053 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13053, + 13576 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13576, + 13779 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13779, + 14472 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14472, + 15156 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15156, + 15784 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15784, + 16491 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 16491, + 16950 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16950, + 17001 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17001, + 17847 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 17847, + 18271 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18271, + 18715 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18715, + 19404 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19404, + 20268 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20268, + 20418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20418, + 21024 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21024, + 22104 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22104, + 22321 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 22321, + 22911 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 22911, + 22983 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 22983, + 23673 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 60, + 1641 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1641, + 2338 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2338, + 3642 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ], + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224", + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 3642, + 4617 + ], + "skill_idxes": [ + 6, + 7, + 8 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4617, + 7416 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 7416, + 10131 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10131, + 13576 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13576, + 14472 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14472, + 15784 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15784, + 16950 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16950, + 18271 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 18271, + 18715 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18715, + 21024 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21024, + 22104 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 14, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 22104, + 23673 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000214.json b/annotations/episode_00000214.json new file mode 100644 index 0000000000000000000000000000000000000000..210f9c1acbcdfb05901da22c89ab3dd0ef538517 --- /dev/null +++ b/annotations/episode_00000214.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19062, + "valid_duration": [ + 45, + 19107 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 45, + 345 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 345, + 1633 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1633, + 2366 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2366, + 3381 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3381, + 3633 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3633, + 4776 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4776, + 4903 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4903, + 5277 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5277, + 5516 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5516, + 5680 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5680, + 5992 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5992, + 6114 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6114, + 6814 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6814, + 7170 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7170, + 7342 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7342, + 7827 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7827, + 8629 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8629, + 9171 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9171, + 9336 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9336, + 9659 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9659, + 9991 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9991, + 10860 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10860, + 11069 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11069, + 11829 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11829, + 12337 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12337, + 12789 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12789, + 13080 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13080, + 13179 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13179, + 13540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13540, + 14150 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14150, + 14271 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14271, + 14530 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14530, + 15307 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15307, + 15788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15788, + 16245 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16245, + 16712 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16712, + 17065 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17065, + 17607 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17607, + 17901 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 17901, + 18605 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18605, + 19107 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 45, + 2366 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2366, + 3381 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3381, + 4776 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4776, + 5992 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5992, + 7827 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7827, + 9659 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9659, + 10860 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10860, + 12337 + ], + "skill_idxes": [ + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12337, + 13080 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13080, + 14150 + ], + "skill_idxes": [ + 27, + 28, + 29 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14150, + 14530 + ], + "skill_idxes": [ + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14530, + 17065 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17065, + 17607 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 17607, + 19107 + ], + "skill_idxes": [ + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000221.json b/annotations/episode_00000221.json new file mode 100644 index 0000000000000000000000000000000000000000..2115d795cbc7ceef03fb357ba2b53e7afd5f24fd --- /dev/null +++ b/annotations/episode_00000221.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 14049, + "valid_duration": [ + 21, + 14070 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21, + 256 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 256, + 814 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 814, + 1431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1431, + 2313 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2313, + 2530 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2530, + 2923 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2923, + 3106 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3106, + 3615 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 3615, + 3807 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3807, + 4044 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4044, + 4315 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4315, + 4432 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4432, + 4871 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4871, + 5107 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5107, + 5322 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5322, + 5634 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5634, + 5854 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5854, + 6748 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6748, + 7333 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7333, + 7592 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7592, + 8019 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8019, + 8158 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8158, + 8581 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8581, + 9136 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 9136, + 9514 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9514, + 9682 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9682, + 9826 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9826, + 10068 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10068, + 10242 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10242, + 10528 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10528, + 10696 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10696, + 10960 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10960, + 11473 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 11473, + 11887 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11887, + 12230 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12230, + 12649 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12649, + 13057 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13057, + 13322 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X1" + ] + ], + "frame_duration": [ + 13322, + 13714 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13714, + 13794 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 13794, + 14070 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 21, + 1431 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1431, + 2313 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2313, + 2923 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 2923, + 4315 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4315, + 5634 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5634, + 8019 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8019, + 8581 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 8581, + 9514 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9514, + 10068 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10068, + 10696 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10696, + 10960 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 10960, + 12649 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 12649, + 13057 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X1" + ] + ], + [] + ], + "frame_duration": [ + 13057, + 14070 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000222.json b/annotations/episode_00000222.json new file mode 100644 index 0000000000000000000000000000000000000000..25be1e1236d52f1ce48360542089c4778da3c7d2 --- /dev/null +++ b/annotations/episode_00000222.json @@ -0,0 +1,1521 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 25342, + "valid_duration": [ + 0, + 25342 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 172 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 172, + 885 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 885, + 1312 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1312, + 2065 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2065, + 2763 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2763, + 3142 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3142, + 3322 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 3322, + 4560 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4560, + 4912 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4912, + 5430 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5430, + 5855 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5855, + 7558 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7558, + 8422 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8422, + 8656 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8656, + 9106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9106, + 9529 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9529, + 10987 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10987, + 11785 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11785, + 11930 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 11930, + 12841 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12841, + 13066 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13066, + 14167 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 14167, + 14785 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14785, + 15127 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 15127, + 16045 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16045, + 16216 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16216, + 17597 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17597, + 18229 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 18229, + 18691 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18691, + 19552 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 19552, + 20179 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 20179, + 21031 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 21031, + 21513 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 21513, + 21964 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 21964, + 22698 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 22698, + 23596 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 23596, + 23827 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 23827, + 24469 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24469, + 25342 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1312 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1312, + 2065 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ], + [] + ], + "frame_duration": [ + 2065, + 4560 + ], + "skill_idxes": [ + 4, + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 4560, + 5430 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5430, + 9106 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 9106, + 12841 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 12841, + 16045 + ], + "skill_idxes": [ + 20, + 21, + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16045, + 17597 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17597, + 18691 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 18691, + 20179 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 20179, + 21513 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 21513, + 21964 + ], + "skill_idxes": [ + 33 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 21964, + 24469 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 24469, + 25342 + ], + "skill_idxes": [ + 38 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000230.json b/annotations/episode_00000230.json new file mode 100644 index 0000000000000000000000000000000000000000..14d27515b4b6a30c1a3ba4dc9a497dd01508c952 --- /dev/null +++ b/annotations/episode_00000230.json @@ -0,0 +1,1676 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17148, + "valid_duration": [ + 72, + 17220 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 72, + 270 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 270, + 1170 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1170, + 1626 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1626, + 2126 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2126, + 2796 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2796, + 3162 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 3162, + 3969 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 3969, + 4602 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4602, + 4887 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 4887, + 5925 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5925, + 6192 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6192, + 6777 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 6777, + 7305 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7305, + 7383 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7383, + 7644 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7644, + 7976 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7976, + 8034 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8034, + 8328 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 8328, + 8709 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8709, + 8772 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8772, + 9144 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9144, + 9522 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9522, + 9546 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9579, + 10188 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10188, + 10506 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10506, + 10722 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10722, + 10881 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10884, + 11220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 11220, + 11502 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11502, + 11589 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 11589, + 12093 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12093, + 12384 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12384, + 12963 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12963, + 13269 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13269, + 13428 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 13428, + 13824 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13824, + 14025 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14025, + 14415 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14415, + 14706 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14706, + 15192 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15192, + 15951 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15951, + 15998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 15998, + 16737 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 16737, + 17220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 72, + 2796 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2796, + 4602 + ], + "skill_idxes": [ + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 4602, + 5925 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 5925, + 7305 + ], + "skill_idxes": [ + 10, + 11, + 12 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7305, + 7976 + ], + "skill_idxes": [ + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 7976, + 8709 + ], + "skill_idxes": [ + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + [], + [ + "to_the_edge_of" + ] + ] + ], + "frame_duration": [ + 8709, + 9144 + ], + "skill_idxes": [ + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9144, + 9522 + ], + "skill_idxes": [ + 21 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9522, + 10722 + ], + "skill_idxes": [ + 22, + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 10722, + 12093 + ], + "skill_idxes": [ + 26, + 27, + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 12093, + 13824 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13824, + 15192 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15192, + 15951 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 15951, + 17220 + ], + "skill_idxes": [ + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000237.json b/annotations/episode_00000237.json new file mode 100644 index 0000000000000000000000000000000000000000..8652a88b3b747672a33b5df005a9c0bb3b4a65b2 --- /dev/null +++ b/annotations/episode_00000237.json @@ -0,0 +1,1579 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 16949, + "valid_duration": [ + 0, + 16949 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 482 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 482, + 968 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 968, + 1464 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1464, + 2197 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2197, + 2544 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2544, + 3513 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3513, + 3781 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3781, + 4433 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4433, + 4712 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4712, + 4950 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4950, + 5507 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5507, + 5745 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5745, + 6193 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6193, + 6587 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6587, + 6838 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 6838, + 7055 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 7055, + 7279 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7279, + 7379 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7379, + 7818 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7818, + 8134 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8134, + 8484 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8484, + 8949 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8949, + 10212 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10212, + 10523 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10523, + 10700 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10700, + 10959 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10959, + 11040 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 11040, + 12152 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12152, + 12628 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12628, + 12815 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12815, + 13116 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13116, + 13406 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13406, + 14220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14220, + 14610 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14610, + 14923 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14923, + 15189 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15189, + 15688 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15688, + 15916 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 15916, + 16355 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16355, + 16468 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 16468, + 16949 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1464 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1464, + 2197 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2197, + 3513 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3513, + 5507 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 5507, + 6193 + ], + "skill_idxes": [ + 11, + 12 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 6193, + 6838 + ], + "skill_idxes": [ + 13, + 14 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 6838, + 7279 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 7279, + 8134 + ], + "skill_idxes": [ + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8134, + 8484 + ], + "skill_idxes": [ + 20 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8484, + 10959 + ], + "skill_idxes": [ + 21, + 22, + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10959, + 13116 + ], + "skill_idxes": [ + 26, + 27, + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13116, + 15189 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15189, + 15688 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 15688, + 16949 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000240.json b/annotations/episode_00000240.json new file mode 100644 index 0000000000000000000000000000000000000000..208c1bc80c3f2107576ebd803027e0524f535db3 --- /dev/null +++ b/annotations/episode_00000240.json @@ -0,0 +1,1662 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17862, + "valid_duration": [ + 42, + 17904 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 42, + 544 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 544, + 1939 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1939, + 2506 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2506, + 3532 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3532, + 3709 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3709, + 4237 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4237, + 4384 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4384, + 4879 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4879, + 5285 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5285, + 5538 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5538, + 5782 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5782, + 5908 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5908, + 6580 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6580, + 7015 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7015, + 7207 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7207, + 7774 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7774, + 7993 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7993, + 9607 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9607, + 10177 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10177, + 10864 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10864, + 11269 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11269, + 11308 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11308, + 11728 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11728, + 12067 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12067, + 12128 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12128, + 12472 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12472, + 12792 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12792, + 12882 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12882, + 13143 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13143, + 13243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13243, + 13722 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13722, + 14035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14035, + 14182 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 14182, + 14566 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14566, + 14719 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14719, + 15247 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15247, + 15751 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15751, + 16162 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16162, + 16366 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16366, + 16741 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16741, + 17026 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X1" + ] + ], + "frame_duration": [ + 17026, + 17590 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17590, + 17680 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 17680, + 17904 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 42, + 2506 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2506, + 3532 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3532, + 4237 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4237, + 5782 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5782, + 7774 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7774, + 10177 + ], + "skill_idxes": [ + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10177, + 11269 + ], + "skill_idxes": [ + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11269, + 12067 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12067, + 12792 + ], + "skill_idxes": [ + 24, + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12792, + 13143 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13143, + 14566 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14566, + 16366 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16366, + 16741 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X1" + ] + ], + [] + ], + "frame_duration": [ + 16741, + 17904 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000242.json b/annotations/episode_00000242.json new file mode 100644 index 0000000000000000000000000000000000000000..1c0bcf64b5aaa17e11108560b1fce0c1b7023947 --- /dev/null +++ b/annotations/episode_00000242.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20820, + "valid_duration": [ + 90, + 20910 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 90, + 480 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 480, + 1101 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1101, + 1770 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1770, + 2922 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2922, + 3117 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3117, + 3942 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3942, + 4194 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4194, + 4944 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4944, + 5703 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5703, + 6097 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6097, + 6936 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6936, + 7180 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7180, + 7530 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7530, + 7845 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7845, + 8166 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8166, + 8685 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8685, + 8902 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8902, + 9405 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9405, + 9765 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9765, + 10146 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 10146, + 11175 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11175, + 11467 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11467, + 12816 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12816, + 13107 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13107, + 13803 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13803, + 14148 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14148, + 14271 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14271, + 14490 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14490, + 14691 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14691, + 14838 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14838, + 15090 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15090, + 15294 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15294, + 15479 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15479, + 15900 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15900, + 16869 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16869, + 17376 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17376, + 17670 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17670, + 18273 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18273, + 19023 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19023, + 19308 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 19308, + 20385 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20385, + 20517 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20517, + 20910 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 90, + 1770 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1770, + 2922 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2922, + 3942 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3942, + 6936 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6936, + 8685 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8685, + 11175 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11175, + 12816 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12816, + 14148 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14148, + 14691 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14691, + 15090 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15090, + 15479 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15479, + 18273 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36, + 37 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18273, + 19023 + ], + "skill_idxes": [ + 38 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 19023, + 20910 + ], + "skill_idxes": [ + 39, + 40, + 41, + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000247.json b/annotations/episode_00000247.json new file mode 100644 index 0000000000000000000000000000000000000000..65fc4f39d8b579e55c73010f6d66f6a5b4cdbc4a --- /dev/null +++ b/annotations/episode_00000247.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17611, + "valid_duration": [ + 4, + 17615 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 156 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 156, + 819 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 819, + 1446 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1446, + 2409 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2409, + 2499 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2499, + 3135 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 3135, + 3723 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3723, + 4098 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 4098, + 4521 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4521, + 4701 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4701, + 5295 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5295, + 5871 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5871, + 6030 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6030, + 6423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6423, + 6483 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6483, + 8265 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8265, + 9042 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9042, + 9291 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9291, + 9657 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9657, + 9900 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9900, + 10218 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10218, + 10875 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10875, + 11256 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 11256, + 11535 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11535, + 11631 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11631, + 12543 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12543, + 12801 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12801, + 13149 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13149, + 13527 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13527, + 13614 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13614, + 13917 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13917, + 14172 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14172, + 14286 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14286, + 14691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14691, + 15180 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15180, + 15417 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15417, + 15675 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15675, + 15897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15897, + 16392 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16392, + 16716 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16716, + 17004 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17004, + 17615 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 1446 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1446, + 2409 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2409, + 3135 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 3135, + 4521 + ], + "skill_idxes": [ + 6, + 7, + 8 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4521, + 6423 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6423, + 9657 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9657, + 11535 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11535, + 12543 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12543, + 13527 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13527, + 14172 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14172, + 15180 + ], + "skill_idxes": [ + 32, + 33, + 34 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15180, + 15675 + ], + "skill_idxes": [ + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15675, + 17004 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17004, + 17615 + ], + "skill_idxes": [ + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000249.json b/annotations/episode_00000249.json new file mode 100644 index 0000000000000000000000000000000000000000..1108cc710f0e1286856d68e798dbfbd095ca384f --- /dev/null +++ b/annotations/episode_00000249.json @@ -0,0 +1,1521 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20571, + "valid_duration": [ + 55, + 20626 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 55, + 616 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 616, + 2117 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 2117, + 2734 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2734, + 3874 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3874, + 4105 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4105, + 4654 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4654, + 4960 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4960, + 6124 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6124, + 6598 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6598, + 6829 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6829, + 7246 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7246, + 7568 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7568, + 8362 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8362, + 9010 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9010, + 9187 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9187, + 9921 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9921, + 10249 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 10249, + 10960 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10960, + 11462 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11462, + 11842 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 11842, + 12256 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12256, + 12378 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12378, + 13291 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13291, + 13717 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13717, + 14323 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14323, + 14671 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14671, + 15019 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15019, + 15327 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15327, + 15526 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15526, + 16165 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16165, + 16597 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16597, + 17257 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17257, + 17717 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17717, + 18325 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18325, + 19072 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19072, + 19330 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X3" + ] + ], + "frame_duration": [ + 19330, + 19824 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19824, + 20155 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20155, + 20626 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 55, + 2734 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2734, + 3874 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3874, + 4654 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4654, + 7246 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7246, + 9921 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9921, + 12256 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12256, + 13291 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13291, + 14323 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14323, + 15019 + ], + "skill_idxes": [ + 25, + 26 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 15019, + 15526 + ], + "skill_idxes": [ + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15526, + 16165 + ], + "skill_idxes": [ + 29 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16165, + 18325 + ], + "skill_idxes": [ + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18325, + 19072 + ], + "skill_idxes": [ + 34 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X3" + ] + ], + [] + ], + "frame_duration": [ + 19072, + 20626 + ], + "skill_idxes": [ + 35, + 36, + 37, + 38 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000255.json b/annotations/episode_00000255.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8ff99b504db5452684238a0b321882cb4fbb36 --- /dev/null +++ b/annotations/episode_00000255.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17844, + "valid_duration": [ + 6, + 17850 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6, + 486 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 486, + 1332 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1332, + 2118 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2118, + 2772 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2772, + 3171 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3171, + 3852 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3852, + 4191 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4191, + 5184 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5184, + 5652 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5652, + 5961 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5961, + 6423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6423, + 6765 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6765, + 7605 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7605, + 7884 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7884, + 8159 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 8159, + 8490 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8490, + 8694 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8694, + 9288 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9288, + 9639 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9639, + 9798 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9798, + 10131 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10131, + 10584 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10584, + 11952 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11952, + 12258 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12258, + 12681 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12681, + 12957 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12957, + 13341 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13341, + 13782 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13782, + 13857 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13857, + 14211 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14211, + 14478 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14478, + 14652 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14652, + 14820 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14820, + 15056 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15056, + 15545 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15545, + 15832 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15832, + 16042 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16042, + 16531 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16531, + 16867 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 16867, + 17308 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17308, + 17469 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 17469, + 17850 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 6, + 2118 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2118, + 2772 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2772, + 3852 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3852, + 6423 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6423, + 8490 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8490, + 10131 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10131, + 11952 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11952, + 12681 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12681, + 13782 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13782, + 14478 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14478, + 14820 + ], + "skill_idxes": [ + 31, + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14820, + 16042 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16042, + 16531 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 16531, + 17850 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000259.json b/annotations/episode_00000259.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4d22c85dd567daa53e5365a3862a13064066db --- /dev/null +++ b/annotations/episode_00000259.json @@ -0,0 +1,1571 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 18765, + "valid_duration": [ + 30, + 18795 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 30, + 420 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 420, + 948 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 948, + 2012 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2012, + 2250 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2250, + 2730 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2730, + 3030 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3030, + 4290 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4290, + 5187 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5187, + 5421 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5421, + 5688 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5688, + 6000 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6000, + 6891 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6891, + 7368 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7368, + 7572 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7572, + 7901 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7901, + 8292 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8292, + 10329 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10329, + 10842 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10842, + 11061 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 11061, + 11217 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11217, + 11502 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11502, + 12075 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12075, + 12540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12540, + 12843 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12843, + 13143 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13143, + 13392 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13392, + 13476 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13476, + 13770 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13770, + 14046 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14046, + 14196 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14196, + 14295 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14295, + 14586 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14586, + 15381 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15381, + 15833 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15833, + 16200 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16200, + 16626 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16626, + 17277 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17277, + 17619 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X2" + ] + ], + "frame_duration": [ + 17619, + 18285 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18285, + 18486 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18486, + 18795 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 30, + 948 + ], + "skill_idxes": [ + 0, + 1 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 948, + 2012 + ], + "skill_idxes": [ + 2 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2012, + 2730 + ], + "skill_idxes": [ + 3, + 4 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 2730, + 5688 + ], + "skill_idxes": [ + 5, + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5688, + 7901 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7901, + 11217 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11217, + 12075 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12075, + 12843 + ], + "skill_idxes": [ + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12843, + 13392 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13392, + 14046 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14046, + 14295 + ], + "skill_idxes": [ + 29, + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14295, + 16626 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16626, + 17277 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X2" + ] + ], + [] + ], + "frame_duration": [ + 17277, + 18795 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000261.json b/annotations/episode_00000261.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d6c2bed506c85851640800b25871984b803282 --- /dev/null +++ b/annotations/episode_00000261.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17847, + "valid_duration": [ + 33, + 17880 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 33, + 474 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 474, + 1362 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1362, + 1899 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1899, + 2871 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2871, + 3312 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3312, + 3845 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 3845, + 4434 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4434, + 4590 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 4590, + 5691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5691, + 5736 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5736, + 6426 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6426, + 6837 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6837, + 7083 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7083, + 7458 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7458, + 7533 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7533, + 8340 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8340, + 8874 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8874, + 9036 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9036, + 9336 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9336, + 9483 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9483, + 9963 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9963, + 10323 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10323, + 10659 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10659, + 10782 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10782, + 10830 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10830, + 11628 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11628, + 11718 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11718, + 12843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12843, + 13344 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13344, + 13698 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13698, + 13923 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13923, + 14196 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14196, + 14496 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14496, + 14817 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14817, + 15027 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15027, + 15198 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15198, + 15693 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15693, + 16038 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16038, + 16521 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16521, + 16941 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16941, + 17313 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17313, + 17880 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 33, + 1899 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1899, + 2871 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2871, + 3845 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 3845, + 5691 + ], + "skill_idxes": [ + 6, + 7, + 8 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5691, + 7458 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7458, + 9336 + ], + "skill_idxes": [ + 14, + 15, + 16, + 17, + 18 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9336, + 10782 + ], + "skill_idxes": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10830, + 11628 + ], + "skill_idxes": [ + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10782, + 13344 + ], + "skill_idxes": [ + 24, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11628, + 13923 + ], + "skill_idxes": [ + 26, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13923, + 14817 + ], + "skill_idxes": [ + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14817, + 15198 + ], + "skill_idxes": [ + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15198, + 17313 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17313, + 17880 + ], + "skill_idxes": [ + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000264.json b/annotations/episode_00000264.json new file mode 100644 index 0000000000000000000000000000000000000000..e4df3a84c8a99c776abe1ebd9e443d981707e81f --- /dev/null +++ b/annotations/episode_00000264.json @@ -0,0 +1,1629 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19387, + "valid_duration": [ + 25, + 19412 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 25, + 100 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 100, + 1036 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1036, + 1771 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1771, + 2681 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2681, + 2878 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2878, + 3591 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3591, + 3822 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3822, + 4339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 4339, + 4816 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4816, + 4863 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4863, + 5608 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5608, + 5735 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5735, + 6490 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6490, + 6805 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6805, + 6938 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6938, + 7396 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7396, + 7426 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7429, + 8458 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8458, + 8973 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8973, + 9214 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 9214, + 9685 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9685, + 10105 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10105, + 11120 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11120, + 11376 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11376, + 12172 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12172, + 12505 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12505, + 12623 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12623, + 13145 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13145, + 13540 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13540, + 13613 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13613, + 13902 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13902, + 14212 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14212, + 14277 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14277, + 14521 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14521, + 15176 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15176, + 15861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15861, + 16395 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16395, + 16774 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16774, + 17099 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17099, + 17644 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17644, + 17731 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 17731, + 19000 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19000, + 19412 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 25, + 1771 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1771, + 2681 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 2681, + 3591 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3591, + 5608 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5608, + 7396 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7396, + 9685 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9685, + 11120 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 11120, + 12505 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12505, + 13540 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 13540, + 14212 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14212, + 14521 + ], + "skill_idxes": [ + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14521, + 17099 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17099, + 17644 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 17644, + 19412 + ], + "skill_idxes": [ + 40, + 41, + 42 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000270.json b/annotations/episode_00000270.json new file mode 100644 index 0000000000000000000000000000000000000000..fbab489884bbfc9a9d0a2e65f73870c9ae6098f7 --- /dev/null +++ b/annotations/episode_00000270.json @@ -0,0 +1,1504 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 17208, + "valid_duration": [ + 12, + 17220 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12, + 357 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 357, + 1266 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1266, + 1724 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1724, + 3341 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3341, + 3428 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3428, + 3839 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 3839, + 4688 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 4688, + 5167 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5167, + 5320 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5320, + 5839 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5839, + 5956 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5956, + 6792 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6792, + 7300 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7300, + 7540 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7540, + 7851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7851, + 8373 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8373, + 9168 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9168, + 9605 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9605, + 9819 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 9819, + 10428 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10428, + 11282 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11282, + 11486 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11486, + 11855 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11855, + 12164 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12164, + 12380 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12380, + 12527 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12527, + 13101 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13101, + 13287 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13287, + 13572 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13572, + 13848 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13848, + 14445 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14445, + 14651 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14651, + 15043 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15043, + 15570 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15570, + 15916 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15916, + 16159 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X1" + ] + ], + "frame_duration": [ + 16159, + 16667 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 16667, + 17220 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 12, + 1724 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1724, + 3341 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3341, + 3839 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 3839, + 5839 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5839, + 7851 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7851, + 10428 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10428, + 11282 + ], + "skill_idxes": [ + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11282, + 12164 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12164, + 12527 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12527, + 13287 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13287, + 13572 + ], + "skill_idxes": [ + 28 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13572, + 15570 + ], + "skill_idxes": [ + 29, + 30, + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15570, + 15916 + ], + "skill_idxes": [ + 34 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X1" + ] + ], + [] + ], + "frame_duration": [ + 15916, + 17220 + ], + "skill_idxes": [ + 35, + 36, + 37 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000280.json b/annotations/episode_00000280.json new file mode 100644 index 0000000000000000000000000000000000000000..50311e1f9bcea83446adcff241e346cfa5a33ef0 --- /dev/null +++ b/annotations/episode_00000280.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20730, + "valid_duration": [ + 0, + 20730 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 418 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 418, + 1152 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1152, + 2020 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2020, + 3106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3106, + 3537 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3537, + 4081 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 4081, + 4834 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4834, + 5362 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 5362, + 5677 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5677, + 5959 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5959, + 6514 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6514, + 7171 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7171, + 7393 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7393, + 7906 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7906, + 8144 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8144, + 9011 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9011, + 9682 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9682, + 10055 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10055, + 10314 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10314, + 10695 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10695, + 11071 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11071, + 11755 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11755, + 12375 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12375, + 12624 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12624, + 12910 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12910, + 13102 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13102, + 13189 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 13189, + 13968 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13968, + 14343 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14343, + 14586 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 14586, + 14932 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14932, + 15160 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 15160, + 16129 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 16129, + 16783 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16783, + 16995 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 16995, + 17223 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17223, + 17465 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 17465, + 18621 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18621, + 19145 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19145, + 19639 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19639, + 20139 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20139, + 20730 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2020 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2020, + 3106 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3106, + 4081 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X3" + ] + ], + [] + ], + "frame_duration": [ + 4081, + 5677 + ], + "skill_idxes": [ + 6, + 7, + 8 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5677, + 7906 + ], + "skill_idxes": [ + 9, + 10, + 11, + 12, + 13 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 7906, + 9011 + ], + "skill_idxes": [ + 14, + 15 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9011, + 10055 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10055, + 11071 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11071, + 12624 + ], + "skill_idxes": [ + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12624, + 13102 + ], + "skill_idxes": [ + 24, + 25 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 13102, + 14932 + ], + "skill_idxes": [ + 26, + 27, + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14932, + 17223 + ], + "skill_idxes": [ + 31, + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17223, + 20139 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 20139, + 20730 + ], + "skill_idxes": [ + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000281.json b/annotations/episode_00000281.json new file mode 100644 index 0000000000000000000000000000000000000000..87317576aeb4e4bf2805946b302320386903cc5e --- /dev/null +++ b/annotations/episode_00000281.json @@ -0,0 +1,1546 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 21306, + "valid_duration": [ + 45, + 21351 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 45, + 624 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 624, + 1332 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1332, + 2166 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2166, + 3330 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3330, + 3519 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3519, + 4308 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4308, + 4549 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4549, + 5322 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5322, + 5564 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5564, + 5646 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5646, + 6285 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6285, + 6510 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6510, + 7277 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7277, + 7905 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7905, + 8066 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8066, + 8802 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8802, + 9087 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9090, + 10860 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10860, + 11292 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11292, + 11505 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11505, + 12534 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12534, + 12780 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12780, + 14164 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14164, + 14487 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14487, + 15072 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15072, + 15533 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15588, + 16154 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 16154, + 16704 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16704, + 16904 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16904, + 17322 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 17322, + 17599 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17599, + 17858 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17858, + 18048 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18048, + 18665 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18665, + 18890 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18890, + 19325 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19325, + 20079 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20079, + 20294 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X1" + ] + ], + "frame_duration": [ + 20294, + 20856 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20856, + 21351 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 45, + 2166 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2166, + 3330 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3330, + 4308 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4308, + 6285 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6285, + 8802 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8802, + 12534 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12534, + 14164 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14164, + 15533 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15588, + 16704 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 16704, + 17599 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 17599, + 17858 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17858, + 19325 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 19325, + 20079 + ], + "skill_idxes": [ + 36 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X1" + ] + ], + [] + ], + "frame_duration": [ + 20079, + 21351 + ], + "skill_idxes": [ + 37, + 38, + 39 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000286.json b/annotations/episode_00000286.json new file mode 100644 index 0000000000000000000000000000000000000000..429f01dfb779ec68d7c9c7760cb915f39cf77897 --- /dev/null +++ b/annotations/episode_00000286.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 18932, + "valid_duration": [ + 91, + 19023 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 91, + 420 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 420, + 1897 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1897, + 2471 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2471, + 3159 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3159, + 3225 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3225, + 3957 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3957, + 4165 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4165, + 4590 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4590, + 4810 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4810, + 4998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4998, + 5340 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5340, + 5455 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5455, + 5793 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5793, + 6133 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6133, + 6408 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6408, + 6867 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6867, + 6906 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6906, + 7501 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7501, + 8001 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8001, + 8247 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8247, + 8877 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8877, + 8940 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8940, + 10234 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10234, + 10464 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10464, + 11796 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11796, + 12430 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12430, + 12514 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12514, + 12793 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12793, + 13062 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13062, + 13243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13243, + 13442 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13442, + 13647 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13647, + 13998 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13998, + 14491 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14491, + 15651 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15651, + 16071 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16071, + 16298 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16298, + 16930 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16930, + 17302 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 17302, + 18113 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18113, + 18236 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18236, + 19023 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 91, + 2471 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2471, + 3159 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3159, + 3957 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 3957, + 5340 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5340, + 6867 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 6867, + 8877 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 8877, + 10234 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 10234, + 12430 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12430, + 13062 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 13062, + 13647 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13647, + 13998 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 13998, + 16298 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16298, + 16930 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 16930, + 19023 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000287.json b/annotations/episode_00000287.json new file mode 100644 index 0000000000000000000000000000000000000000..54e287fd6f4a9f13ea55fe369d16966f73fa6c55 --- /dev/null +++ b/annotations/episode_00000287.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 16262, + "valid_duration": [ + 4, + 16266 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 387 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 387, + 1041 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1041, + 1710 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1710, + 2586 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2586, + 2868 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2868, + 3273 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3273, + 3507 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 3507, + 3843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3843, + 4188 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 4188, + 4878 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4878, + 5043 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5043, + 5937 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 5937, + 6384 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6384, + 6612 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6612, + 6948 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6948, + 7338 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7338, + 8049 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8049, + 8511 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8511, + 8754 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8754, + 9228 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9228, + 9381 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9381, + 9828 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9828, + 10167 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10167, + 10655 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 10655, + 10989 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10989, + 11037 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11037, + 11307 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11307, + 11472 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11472, + 11520 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11520, + 11721 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11721, + 11988 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11988, + 12252 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12252, + 12615 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 12615, + 13305 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 13305, + 13930 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13930, + 14076 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 14076, + 14277 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14277, + 14457 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14457, + 14868 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14868, + 15309 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15309, + 15687 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15687, + 16266 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 1710 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1710, + 2586 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ], + [] + ], + "frame_duration": [ + 2586, + 3843 + ], + "skill_idxes": [ + 4, + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3843, + 4878 + ], + "skill_idxes": [ + 8, + 9 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4878, + 6948 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "paperback_book_225" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 6948, + 9228 + ], + "skill_idxes": [ + 15, + 16, + 17, + 18, + 19 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9228, + 9828 + ], + "skill_idxes": [ + 20, + 21 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 9828, + 10989 + ], + "skill_idxes": [ + 22, + 23, + 24 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10989, + 11472 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11472, + 11988 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11988, + 12252 + ], + "skill_idxes": [ + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 12252, + 14277 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14277, + 15687 + ], + "skill_idxes": [ + 37, + 38, + 39, + 40 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15687, + 16266 + ], + "skill_idxes": [ + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000289.json b/annotations/episode_00000289.json new file mode 100644 index 0000000000000000000000000000000000000000..b29067df2ca5343ca769fc3191a8341e8bef83ae --- /dev/null +++ b/annotations/episode_00000289.json @@ -0,0 +1,1654 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 18404, + "valid_duration": [ + 4, + 18408 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4, + 513 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 513, + 1788 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1788, + 2391 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2391, + 3540 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3540, + 3875 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3875, + 4485 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4485, + 4698 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4698, + 5247 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5247, + 5586 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5586, + 5961 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 5961, + 6351 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6351, + 6468 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6468, + 7122 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7122, + 7323 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7323, + 7542 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 7542, + 7781 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7781, + 7811 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7811, + 8208 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8208, + 8523 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8523, + 8697 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8697, + 9108 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9108, + 9321 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9321, + 9852 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9852, + 10104 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10104, + 11295 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 11295, + 12000 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12000, + 12111 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12111, + 12678 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12678, + 12984 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12984, + 13272 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13272, + 13596 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13596, + 14049 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14049, + 14370 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14370, + 14559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14559, + 14964 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14964, + 15651 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15651, + 16298 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16298, + 16452 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16452, + 16821 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16821, + 17313 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17313, + 17472 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X3" + ] + ], + "frame_duration": [ + 17472, + 17784 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17784, + 18012 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 18012, + 18408 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 4, + 2391 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2391, + 3540 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3540, + 4485 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 4485, + 6351 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6351, + 7781 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7781, + 9108 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9108, + 9852 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 9852, + 12000 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 12000, + 12984 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12984, + 14049 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 14049, + 14559 + ], + "skill_idxes": [ + 32, + 33 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 14559, + 16821 + ], + "skill_idxes": [ + 34, + 35, + 36, + 37, + 38 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16821, + 17313 + ], + "skill_idxes": [ + 39 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X3" + ] + ], + [] + ], + "frame_duration": [ + 17313, + 18408 + ], + "skill_idxes": [ + 40, + 41, + 42, + 43 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000291.json b/annotations/episode_00000291.json new file mode 100644 index 0000000000000000000000000000000000000000..3880ef21e0f95ff73f92f89e2cadac7b2fd4d080 --- /dev/null +++ b/annotations/episode_00000291.json @@ -0,0 +1,1669 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 19278, + "valid_duration": [ + 42, + 19320 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 42, + 474 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 474, + 1542 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1542, + 1833 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1833, + 2331 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 2331, + 3063 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3063, + 3468 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [], + "frame_duration": [ + 3468, + 4239 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 91 + ], + "skill_description": [ + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "", + "under" + ] + ], + "frame_duration": [ + 4239, + 5151 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5151, + 5292 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5319, + 5976 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 5976, + 6582 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6582, + 6753 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 6753, + 7242 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7242, + 7455 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7455, + 7953 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7953, + 8175 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8175, + 8238 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8238, + 8865 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8865, + 9114 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 9114, + 9474 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 9474, + 9843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9843, + 10005 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 10005, + 10476 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10476, + 10893 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10893, + 12129 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12129, + 12495 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 12495, + 12933 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12933, + 13485 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13485, + 13656 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13656, + 14004 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14004, + 14217 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14217, + 14397 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14397, + 14811 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14811, + 15426 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15426, + 15480 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15480, + 15888 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15888, + 16163 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16163, + 16623 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16623, + 16911 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16911, + 17187 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17187, + 17775 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17775, + 17958 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 42, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 17958, + 18864 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 43, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18864, + 19005 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 44, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19005, + 19320 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ], + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231", + "folder_231" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 42, + 3063 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 91 + ], + "primitive_description": [ + "pick up from", + "place on next to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0" + ], + [ + "eames_chair_hndxiw_0", + "floors_qnvzkr_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0", + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [], + [ + [], + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 3063, + 5151 + ], + "skill_idxes": [ + 5, + 6, + 7 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 5151, + 7242 + ], + "skill_idxes": [ + 8, + 9, + 10, + 11, + 12 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 7242, + 8865 + ], + "skill_idxes": [ + 13, + 14, + 15, + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 8865, + 10476 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 10476, + 12129 + ], + "skill_idxes": [ + 23, + 24 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12129, + 13485 + ], + "skill_idxes": [ + 25, + 26, + 27 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13485, + 14217 + ], + "skill_idxes": [ + 28, + 29, + 30 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 14217, + 15426 + ], + "skill_idxes": [ + 31, + 32, + 33 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 15426, + 15888 + ], + "skill_idxes": [ + 34, + 35 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 15888, + 17187 + ], + "skill_idxes": [ + 36, + 37, + 38, + 39 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17187, + 17775 + ], + "skill_idxes": [ + 40 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 17775, + 19320 + ], + "skill_idxes": [ + 41, + 42, + 43, + 44 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000296.json b/annotations/episode_00000296.json new file mode 100644 index 0000000000000000000000000000000000000000..cefddedf87d6746fe203b6fa33dd6b1e5676c0d0 --- /dev/null +++ b/annotations/episode_00000296.json @@ -0,0 +1,1604 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20196, + "valid_duration": [ + 84, + 20280 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 84, + 484 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 484, + 1159 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1159, + 1851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 1851, + 3526 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3526, + 3948 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3948, + 4546 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4546, + 4830 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4830, + 5347 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5347, + 5698 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5698, + 6180 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 6180, + 6382 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6382, + 7018 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7018, + 8282 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 8282, + 9024 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9024, + 9374 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 9374, + 9736 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9736, + 10057 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 10057, + 11138 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11138, + 11198 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11198, + 11542 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11542, + 12091 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12091, + 12544 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12544, + 12990 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12990, + 13036 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13036, + 13350 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 13350, + 13819 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13819, + 13982 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13982, + 14239 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 14239, + 15196 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 15196, + 15764 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15764, + 16210 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 16210, + 16599 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16599, + 16966 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 16966, + 17527 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 17527, + 17875 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17875, + 18157 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18157, + 18361 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18361, + 18925 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 18925, + 19243 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "2X2" + ] + ], + "frame_duration": [ + 19243, + 19714 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19714, + 19792 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 19792, + 20280 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 84, + 1851 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 1851, + 3526 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3526, + 4546 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4546, + 6382 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6382, + 9736 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 9736, + 11138 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 11138, + 12091 + ], + "skill_idxes": [ + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12091, + 12990 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 12990, + 13819 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 13819, + 14239 + ], + "skill_idxes": [ + 26, + 27 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 14239, + 16599 + ], + "skill_idxes": [ + 28, + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16599, + 18361 + ], + "skill_idxes": [ + 32, + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18361, + 18925 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "2X2" + ] + ], + [] + ], + "frame_duration": [ + 18925, + 20280 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000297.json b/annotations/episode_00000297.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac3636239f4622bf34c66d36aca06f3e442b286 --- /dev/null +++ b/annotations/episode_00000297.json @@ -0,0 +1,1596 @@ +{ + "task_name": "clean up your desk", + "data_folder": "", + "meta_data": { + "task_duration": 20799, + "valid_duration": [ + 93, + 20892 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 93, + 393 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 393, + 1737 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 1737, + 2487 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + "", + "under" + ] + ], + "frame_duration": [ + 2487, + 3585 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3585, + 3828 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + "", + "3X3" + ] + ], + "frame_duration": [ + 3828, + 4434 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_232" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4434, + 4560 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4560, + 5346 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5346, + 5688 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "folder_231" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5688, + 5883 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 5883, + 6231 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6231, + 6351 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6351, + 7380 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [], + "frame_duration": [ + 7380, + 7704 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7704, + 7881 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226" + ], + "spatial_prefix": [ + [ + "", + "2X3" + ] + ], + "frame_duration": [ + 7881, + 8559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_225" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8559, + 8636 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 8636, + 10188 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 10188, + 10761 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "paperback_book_226" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10761, + 11025 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 11025, + 11373 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_case_224" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 11427 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11427, + 12114 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_229" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12114, + 12294 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_229", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12294, + 14025 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 25, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 14025, + 14649 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 26, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pen_228" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 14649, + 14778 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 27, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pen_228", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14778, + 15213 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 28, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 15213, + 15468 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 29, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "pencil_230" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 15468, + 15578 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 30, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_230", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15578, + 15792 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 31, + "skill_id": [ + 6 + ], + "skill_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15792, + 16043 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 32, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16043, + 16500 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 33, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 16500, + 16849 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 34, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16849, + 17802 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 35, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 17802, + 18177 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 36, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18177, + 18696 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 37, + "skill_id": [ + 14 + ], + "skill_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18696, + 19701 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 38, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "stapler_227" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 19701, + 19878 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 39, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [ + [ + "", + "4X2" + ] + ], + "frame_duration": [ + 19878, + 20346 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 40, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 20346, + 20406 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 41, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227" + ], + "spatial_prefix": [], + "frame_duration": [ + 20406, + 20892 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "folder_231", + "eames_chair_hndxiw_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [], + "frame_duration": [ + 93, + 2487 + ], + "skill_idxes": [ + 0, + 1, + 2 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 90 + ], + "primitive_description": [ + "push to" + ], + "object_id": [ + [ + "eames_chair_hndxiw_0", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "eames_chair_hndxiw_0" + ], + "spatial_prefix": [ + [ + [], + [ + "under" + ] + ] + ], + "frame_duration": [ + 2487, + 3585 + ], + "skill_idxes": [ + 3 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 4 + ], + "primitive_description": [ + "place in" + ], + "object_id": [ + [ + "folder_231", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "folder_231" + ], + "spatial_prefix": [ + [ + [], + [ + "3X3" + ] + ] + ], + "frame_duration": [ + 3585, + 4434 + ], + "skill_idxes": [ + 4, + 5 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "folder_232", + "desk_bhkhxo_0" + ], + [ + "folder_232", + "folder_231" + ] + ], + "manipulating_object_id": [ + "folder_232", + "folder_232" + ], + "spatial_prefix": [], + "frame_duration": [ + 4434, + 6231 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "paperback_book_226", + "desk_bhkhxo_0" + ], + [ + "paperback_book_226", + "bookcase_jaysra_0" + ] + ], + "manipulating_object_id": [ + "paperback_book_226", + "paperback_book_226" + ], + "spatial_prefix": [ + [], + [ + [], + [ + "2X3" + ] + ] + ], + "frame_duration": [ + 6231, + 8559 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "paperback_book_225", + "desk_bhkhxo_0" + ], + [ + "paperback_book_225", + "paperback_book_226" + ] + ], + "manipulating_object_id": [ + "paperback_book_225", + "paperback_book_225" + ], + "spatial_prefix": [], + "frame_duration": [ + 8559, + 11373 + ], + "skill_idxes": [ + 16, + 17, + 18, + 19, + 20 + ] + }, + { + "primitive_idx": 6, + "primitive_id": [ + 2 + ], + "primitive_description": [ + "pick up from" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 11373, + 12114 + ], + "skill_idxes": [ + 21, + 22 + ] + }, + { + "primitive_idx": 7, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_229", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_229" + ], + "spatial_prefix": [], + "frame_duration": [ + 12114, + 14649 + ], + "skill_idxes": [ + 23, + 24, + 25 + ] + }, + { + "primitive_idx": 8, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pen_228", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pen_228" + ], + "spatial_prefix": [], + "frame_duration": [ + 14649, + 15468 + ], + "skill_idxes": [ + 26, + 27, + 28 + ] + }, + { + "primitive_idx": 9, + "primitive_id": [ + 6 + ], + "primitive_description": [ + "insert" + ], + "object_id": [ + [ + "pencil_230", + "pencil_case_224" + ] + ], + "manipulating_object_id": [ + "pencil_230" + ], + "spatial_prefix": [], + "frame_duration": [ + 15468, + 16043 + ], + "skill_idxes": [ + 29, + 30, + 31 + ] + }, + { + "primitive_idx": 10, + "primitive_id": [ + 3 + ], + "primitive_description": [ + "place on" + ], + "object_id": [ + [ + "pencil_case_224", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "pencil_case_224" + ], + "spatial_prefix": [], + "frame_duration": [ + 16043, + 16500 + ], + "skill_idxes": [ + 32 + ] + }, + { + "primitive_idx": 11, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "laptop_233", + "bed_rrcvaq_1" + ], + [ + "laptop_233", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "laptop_233", + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 16500, + 18696 + ], + "skill_idxes": [ + 33, + 34, + 35, + 36 + ] + }, + { + "primitive_idx": 12, + "primitive_id": [ + 14 + ], + "primitive_description": [ + "close lid" + ], + "object_id": [ + [ + "laptop_233" + ] + ], + "manipulating_object_id": [ + "laptop_233" + ], + "spatial_prefix": [], + "frame_duration": [ + 18696, + 19701 + ], + "skill_idxes": [ + 37 + ] + }, + { + "primitive_idx": 13, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + "stapler_227", + "bookcase_jaysra_0" + ], + [ + "stapler_227", + "desk_bhkhxo_0" + ] + ], + "manipulating_object_id": [ + "stapler_227", + "stapler_227" + ], + "spatial_prefix": [ + [ + [], + [ + "4X2" + ] + ], + [] + ], + "frame_duration": [ + 19701, + 20892 + ], + "skill_idxes": [ + 38, + 39, + 40, + 41 + ] + } + ] +} \ No newline at end of file